CN202711265U - Under-mine personnel positioning device based on radio frequency identification technology - Google Patents
Under-mine personnel positioning device based on radio frequency identification technology Download PDFInfo
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Abstract
An under-mine personnel positioning device based on radio frequency identification technology includes tag card readers, electronic tags, a switch, an upper PC, a central display screen and optical fibers. At least three tag card readers are arranged inside an under-mine tunnel; the tag card readers establish connection with the electronic tags wore by under-mine personnel through radio-frequency electromagnetic waves; an existing ranging algorithm is improved through adopting an electromagnetic transmission model and attenuation index which more accord with an under-mine environment; the tag card readers accurately determine the distances between the under-mine personnel and the tag card readers according to the improved ranging algorithm; after summarized by the switch, measurement results are transferred to the ground upper PC; the upper PC performs a trilateral positioning method on every three spacing values of identical identifiers so as to accurately obtain the coordinate position of each under-mine person; positioning results are displayed on the central display screen in a real-time manner; and through the above manner, position references can be provided to ground management personnel and personnel who are to descend a mine. With the improved device and the improved algorithm, positioning accuracy can be greatly improved, and the problem of difficulty in under-mine positioning can be effectively solved.
Description
Technical field
The utility model relates to a kind of radio communication locating device and algorithm, and specifically a kind of device and algorithm of the mensuration down-hole personnel position based on REID belong to the technical field of measurement and positioning.This locating device comprises tag reader, electronic tag, switch, host computer PC, central display screen and optical fiber.
Background technology
Emergency measure research for multiple events of mine such as gas explosion, Underwell permeables is the focus that people are concerned about always, how to determine fast and accurately in finite time after accident occurs that the down-hole trapped personnel position is a problem demanding prompt solution.The advantages such as radio-frequency (RF) identification (RFID) technology is highly sensitive with it, non line of sight noncontact, low power consumption and low cost are shown one's talent from numerous location technologies, its principal feature has well solved the difficult problem in location under the coal mine, but there are many deficiencies in the Personnal positioner under well that existing applying RFID technology is designed, at first, locating device does not well solve the accurate identification problem after a plurality of electronic tags enter tag reader simultaneously; When tag reader is worked in the complex environment of down-hole how the electromagnetic crosstalk phenomenon is protected; And can the electromagenetic wave radiation scope of card reader antenna emission cover the problems such as all personnel to be measured.Secondly, location algorithm does not consider to transmit electromagnetic wave because cause specific causes the situation of attenuation loss, reason is that the detonator networking is used in common explosion in the underground construction, the effect of receiving antenna can be played in this networking, can absorb certain electromagnetic wave energy, the part electromagnetic energy will be absorbed loss when the communication electromagnetism ripple reaches around this networking, thereby affect to a great extent the mensuration of signal transmission power, and then cause orientation distance to have deviation, make to record the personnel positions coordinate and actual coordinate is not inconsistent, have a strong impact on downhole rescuing work.Therefore, it is imperative to study a kind of new down-hole RFID personnel positioning apparatus and algorithm.
Chinese patent application numbers 201120008418.9, open day 2011.07.27, a kind of wireless underground personnel positioning card reader device is disclosed, this device comprises main control module, radio receiving transmitting module, bus communication module, serial port module, main control module respectively with radio receiving transmitting module, bus communication module, serial port module connects, after radio receiving transmitting module traces into the electronic tag signal that the personnel in the pit carries, by bus communication module the information exchange of the locating information of card reader and positioning electronic tag is crossed communication bus by the main control module reading information and send to host computer, thereby realize personnel in the pit's the reading and transmit of locating information, realize the setting of the locating information between computing machine and the card reader and ID number setting by serial port module.This apparatus structure is simple, does not consider that the identifier of a plurality of electronic tags enters card reader anticollision processing afterwards simultaneously, thereby causes card reader can't accurately identify personnel in the pit corresponding to electronic tag, causes the location chaotic.
Chinese patent application numbers 200610051840.6, open day 2006.11.08, authorize a day 2009.9.16, disclose a kind of personnel in the pit and located deliverance apparatus and underground personnel positioning method, characteristics are that it comprises the Wireless tracker that the wireless monitor meshed network that is made of a plurality of wireless monitor node groups of arranging along drive and miner wear with oneself, wireless monitor node group is made of three the wireless monitor nodes in the both sides that are separately positioned on drive and top, advantage is to need not geography information under the prior fixed well, utilize underground wireless network automatically to make up the miner, the automatic 3 D locating device of wireless monitor node, need not to increase wire cable, just can monitor at any time miner's particular location.But this localization method is not considered when the down-hole real work is used, the detonator networking that exists in the tunnel can absorb the electromagnetic wave energy from the emission of wireless monitor meshed network, cause the actual signal power that transmits between tracker and monitoring node to decay to some extent than original power, cause the elements of a fix inaccurate.
Given this, under the current coal mine in the urgent need to a kind of new personnel positions coordinate measuring apparatus and algorithm.The utility model will have the RFID locating device now and algorithm improves, with the application of installation after improving in personnel in the pit's position coordinates is measured.
Summary of the invention
Low in order to overcome under the existing well mensuration precision of radio frequency identification locating device and method, poor robustness, the shortcomings such as measurement range is little, the utility model provides a kind of radio communication locating device and algorithm, specifically a kind of device and algorithm of the mensuration down-hole personnel position based on REID are by using the high-speed digital signal process chip, increasing the anticollision tupe, tag reader is placed the metal protection shell and use the mode such as many antennas that device is optimized at the tag reader radio-frequency module; Algorithm is improved to employing more meets the electronic tag spacing that the Propagation models of electromagnetic wave propagation of subsurface environment and damped expoential accurate Calculation tag reader and personnel are worn, use three limit localization method Obtaining Accurate down-hole personnel position coordinates, significantly improve bearing accuracy.
The technical solution adopted in the utility model is:
Personnal positioner under well based on REID, comprise tag reader, electronic tag, switch, host computer PC, central authorities' display screen and optical fiber, it is characterized in that installing and fixing in the underworkings at least three station symbol label card reader, tag reader connects by the electronic tag that radio frequency electromagnetic and personnel in the pit wear, tag reader is measured personnel in the pit and tag reader spacing according to location algorithm, measurement result is reached the down-hole switch by communication bus, after switch gathers by optical fiber transmission to the ground host computer PC, host computer PC is integrated all uploading datas according to the electronic label identification symbol and is sorted out, use three limit ranging formulas to calculate successively every personnel in the pit's coordinate the distance values of per three same identifier, positioning result is deposited in the server together with the unification of personnel's essential information, and in central display screen, show in real time, for aboveground managerial personnel and the personnel that lower well operations provide reference by location.
Described Personnal positioner under well, employing meet the Propagation models of electromagnetic wave propagation of subsurface environment and the distance between damped expoential algorithm mensuration personnel in the pit and the tag reader more.
Described Personnal positioner under well, tag reader comprise with lower module: microcontroller module, data processing module, memory module, timing module, radio-frequency module, interface circuit, display module; Electronic tag comprises with lower module: microcontroller module, detection module, anticollision module, memory module, voltage control module, modulation module, radio-frequency module, clock generation module.
Described Personnal positioner under well, the data processing module of tag reader comprise digital signal processor, detuner and redundancy check device; Memory module comprises internal data memory, high-pressure generator and mode register; Radio-frequency module adopts the standard chips that meets ISO/IEC 18000-6 agreement, and the radio-frequency antenna end has adopted many omnidirectional antennas.
Described Personnal positioner under well, the voltage control module of electronic tag comprise amplitude limiter circuit and voltage reference device; Modulation module comprises modulator, envelope detector, pulse shaper and 16MHz crystal oscillator; The anticollision module comprises randomizer and time slot counter; Clock generation module comprises timer and clock generator.
Described Personnal positioner under well adopts the TMS320C203 chip as the core circuit of digital signal processor in the tag reader, and this built-in chip type mlultiplying circuit can carry out analysis and solution to comparatively complicated location algorithm instruction.
Described Personnal positioner under well, the every station symbol label card reader air line distance of being separated by remains on more than 3 meters, thereby guarantees the protective capacities of crosstalking between tag reader in the work; Tag reader places a metal protection shell, and this shell has anticorrosive property gas, resistant to pressure and the effect such as explosion-proof.
The utility model has following 4 beneficial effects.
1. degree of accuracy is high.The utility model is based on radio-frequency (RF) identification and electromagnetic telecommunication technology, transmit and receive electromagnetic wave energy by tag reader, to have the electromagnetic distance measurement algorithm now improves, adopt the Propagation models of electromagnetic wave propagation and damped expoential Accurate Measurement tag reader and the electronic tag spacing that more meet subsurface environment, use three limit localization methods and obtain the down-hole personnel position coordinate, degree of accuracy is high.
2. resolution is high.The utility model adds the anticollision module in electronic tag, this module plays and prevents that unreasonable collision causes tag reader can not accurately identify the effect of every personnel in the pit position between electronic tag, time slot counter is counted under the control of randomizer, can be effectively be assigned in the different time-gap and read respectively entering electronic tag in the tag reader identification range, guarantee that every down-hole personnel position information of reading do not obscure, resolution is high.
3. robustness is good.Tag reader of the present utility model places a metal protection shell, and this shell has anticorrosive property gas, resistant to pressure and the effect such as explosion-proof.In addition, many station symbols label card reader air line distance of being separated by is remained on more than 3 meters, thereby guarantee the protective capacities of crosstalking between tag reader in the work, do not interfere with each other between card reader and card reader, robustness is good.
4. rational in infrastructure, rapidly and efficiently.The utility model mainly is comprised of tag reader, electronic tag, switch, host computer PC and central display screen, and is rational in infrastructure; Tag reader is calculated tag reader and electronic tag spacing by the high-speed digital signal process chip after the echoed signal of electronic tag is extracted, and result of calculation is reached host computer PC real-time by optical fiber carry out subsequent treatment, rapidly and efficiently.
Description of drawings
Below in conjunction with drawings and Examples the utility model is further specified.
Fig. 1 is the down-hole positioning principle figure of the utility model device.
Fig. 2 is modified personnel positioning algorithm synoptic diagram.
Fig. 3 is personnel positions coordinate surface comparison diagram.
Fig. 4 is electronic tag anticollision schematic diagram.
Fig. 5 is the tag reader hardware structure diagram.
Fig. 6 is the electronic tag hardware structure diagram.
1. tag reader among the figure, 2. electronic tag, 3. switch, 4. personnel in the pit, 5. detonator blasting networking, 6. tunnel, 7. optical fiber, 8. host computer PC, 9. server, 10. central display screen.
Embodiment
In the embodiment shown in fig. 1, the coordinate points that the utility model is set in advance at underworkings (6) installs and fixes at least three Mine-used I. S tag reader (1), three station symbol label card reader (1) are a measurement point, can increase tag reader (1) quantity according to the precision needs in the Practical Project; Tag reader (1) is placed the metal protection shell, and the air line distance of being separated by between each tag reader remains on more than 3 meters.Electronic tag (2) is built in the safety helmet that personnel in the pit (4) wears, and power-supply unit adopts the portable type of mine lamp rechargeable battery powered.The detonator blasting networking (5) that is used for explosion in the tunnel is non-uniformly distributed in tag reader (1) and personnel in the pit (4) on every side, when the communication electromagnetism ripple reach this networking on every side the time part electromagnetic energy will be absorbed loss.Tag reader (1) adopts the wireless communications mode that meets ISO/IEC 18000-6 consensus standard to be connected with electronic tag (2), and tag reader (1) is pressed the search cycle of device setting by near the electronic tag (2) the radio-frequency antenna search; The electronic tag (2) that is in simultaneously dormancy under the effect of timer NE555 (602) chip is activated, and enters readiness.Search electronic tag detecting device MT8989D (603) behind the signal state of electronic tag (2) detection signal is replaced as 0 by 1, then electronic tag sends application connection signal to tag reader (1), tag reader (1) will apply for that signal carries out rectification, and the accuracy by redundancy check device CRC-16 (510) check signal, if there is mistake, tag reader (1) can stop response, illustrating has a plurality of electronic tags (2) to connect with tag reader simultaneously this moment, then change the anticollision tupe over to, guarantee that tag reader and single electronic tag communicate.After having set up independent communication of tag reader and electronic tag, tag reader (1) sends the read data order to electronic tag (2), tag reader carrier power energy is carried in order, electronic tag (2) receives to make behind the tag reader carrier energy signal and replys, 32 electronic recognition symbols and equipment parameters are reflected back tag reader (1), tag reader receives echoed signal and extracts carrier information, the state of label testing (603) detection signal is replaced as 1 by 0, and communication is finished.So that setting up to communicate by letter with all electronic tags (2), tag reader (1) also extracts one by one carrier information and so forth, the parameter of extracting is carried out data operation by the digital signal processing chip TMS320C203 (502) in the tag reader (1), the electronic tag that calculates (2) backs up in internal data memory EEPROM (503) with tag reader (1) distance values, and the distance values of electronic tag and tag reader is the distance values of personnel in the pit (4) and tag reader; Use simultaneously communication bus that result of calculation is reached in the down-hole switch (3), switch (3) reaches ground host computer PC (8) by optical fiber (7) after all distance values are gathered, host computer PC (8) is uploaded the spacing result according to the electronic label identification symbol with all and is integrated classification, the distance values substitution three limit ranging formulas of per three same identifier are calculated successively every personnel's coordinate, positioning result is deposited in the server (9) together with the unification of personnel's essential information, and in central display screen (10), show in real time, for aboveground managerial personnel and the personnel that lower well operations provide reference by location.
In embodiment illustrated in fig. 2, tag reader (1) connects by the electronic tag (2) that twireless radio-frequency communication and personnel in the pit (4) wear, thereby by the backward energy calculating of measurement electronic tag and the size of its standoff distance.The existing electronic tag (2) of finding the solution with tag reader (1) spacing formula is
P in the formula
RXBe the backward energy of tag reflection to tag reader; G
RXBe the tag reader antenna gain; P
TXCarrier power energy for the tag reader emission; σ is the antenna scattering cross section of electronic tag; C is the light velocity; f
0Be the tag reader frequency of operation; d
Ni(n=1,2 ...) be distance between required different electronic tag (2) and the tag reader (1).Tag reader is received and dispatched power energy, antenna gain, frequency of operation and scattering cross-section parameter substitution spacing formula, can try to achieve every station symbol label card reader and different electronic tag spacing d
NiValue, with the distance values substitution three limit ranging formulas of per three identical electronic label identifier
(x in the formula
n, y
n, z
n) n=1,2 ... be the tag reader position coordinates that sets in advance.On this basis, location algorithm is improved.Consider that there is the situation of detonator blasting networking (5) in underworkings, the effect of receiving antenna can be played in this networking, the reflected energy that electronic tag is transmitted back to tag reader has part to be absorbed by blasting network (5), the carrier of the transmission line model that adopts the low dough softening during as Electromagnetic Wave Propagation draws the electromagnetic wave energy P that blasting network absorbs
RLFor
In the formula
Directivity factor for antenna; δ is the electromagnetic wave attenuation index; λ=c/f
0Be electromagnetic wavelength; Damped expoential δ is the parameter of outbalance in this formula, relevant with electromagnetic wave thickness between permittivity, dielectric-slab permittivity, magnetoconductivity, transmission line phase constant, angular velocity and the dielectric-slab of free-space propagation, according to width and the environmental aspect of this application of installation in actual tunnel, down-hole, get definite value and find the solution damped expoential, with its abbreviation for the approximation relation formula relevant with frequency of operation be
Tag reflection returns the actual electromagnetic wave radiation energy PRS of tag reader and is after then absorbing through blasting network
This formula is the electromagenetic wave radiation energy value algorithm that the electronic tag after improving reaches tag reader, and formula can be found the solution spacing d after the known parameters substitution was improved
NiValue, the distance values substitution three limit ranging formulas after improving the most at last can more accurately be determined personnel in the pit (4) position coordinates (x
i, y
i, z
i).
In the embodiment shown in fig. 3, use the matlab simulation software and draw location algorithm improvement front and back down-hole personnel position coordinate surface figure, Fig. 3 (a) is the personnel in the pit's coordinate surface figure before improving, and Fig. 3 (b) is the personnel in the pit's coordinate surface figure after improving.The simulation parameter of choosing among the figure is the canonical parameter of using in the engineering, comprises tag reader coordinate (x
n, y
n, z
n) n=1,2 ..., absorbed energy P
RL, antenna gain G
RX, scattering cross-section σ, directivity factor
Frequency of operation f
0Six device performance parameters, and emissive power P
TX, echo power P
RXBinomial measuring apparatus parameter, the wherein position coordinates (x of three station symbol label card reader
n, y
n, z
n) value is (4,5,50), (10,11,50), (20,30,50); P
RLGet maximum value 380mW; G
RXValue is 20dBi; The σ value is 188.9m
2 
Value is 8.45dBi; f
0Span is 0MHz-600MHz, works as P
TXThree station symbol label card reader record P during for 8W
RXValue is respectively 4W, 2.7W, 8W; Work as P
TXRecord P during for 10W
RXValue is respectively 5W, 10W, 3.3W; Work as P
TXRecord P during for 12W
RXValue is respectively 12W, 6W, 4W. works as P
TXRecord P during for 15W
RXValue is respectively 7.5W, 15W, 5W.Can be found out that by the surface chart shape personnel positions changes in coordinates was significantly before and after algorithm improved, and illustrated and worked as P
TXBe respectively 8W and 10W, f
0During for 100MHz, personnel in the pit's coordinate was (42,49,50) and (44,49,50) before algorithm improved, and coordinate became (53,39,50) and (30,62,50) after algorithm improved, and coordinate air line distance differs near 18m before and after improving; Work as P
TXBe respectively 12W and 15W, f
0During for 200MHz, personnel in the pit's coordinate was (37,47,50) and (38,47,50) before algorithm improved, and coordinate became (30,59,50) and (48,65,50) after algorithm improved, and coordinate air line distance differs near 20m before and after improving.Location algorithm after the improvement is more accurately determined the particular location of down-hole trapped personnel, wins the quality time for saving personal life in Practical Project is speedily carried out rescue work.In addition, all adopting parameters can be adjusted according to actual requirement of engineering in the surface chart.
In the embodiment shown in fig. 4, tag reader emission Init-round order search electronic tag (401), after electronic tag receives querying command, set the initial value (402) of time slot counter by randomizer, make with the initial value of setting and to reply, judge whether time slot initial value and the time slot value in the tag reader of electronic tag setting is all N (N is the round values that generator produces at random) (403).If the same electronic tag is made and is replied (404), show that N time slot is interior to connect with tag reader with being intended to, tag reader will be verified whether bump between electronic tag (405) in this time slot this moment, if exist collision to show in N the time slot have more than one electronic tag to enter simultaneously the same label card reader, can not carry out One-to-one communication, order when then the time slot counter of each electronic tag being entered card reader by label adds 1, thereby according to [N+1, N+2 ... N+n] order of (n is natural number) connect with tag reader respectively (409); If there is no the collision labels card reader will be set up separately communication connection (406) with electronic tag, and the electronic tag detection signal has been put behind the sign off, enters dormant state (407).Be not all N when judging time slot value that electronic tag sets and the time slot value in the tag reader, then electronic tag time slot value adds 1 (408), whether identical, circulation adds 1 until can carry out hit-treatment after identical if constantly rejudging the time slot initial value of setting with tag reader at the N+1 time slot.After the electronic tag dormancy, whether there is excess electron label (410) in the tag reader search radiation field, if exist then repeating step (402); If there is no then the anticollision processing finishes.
In the embodiment shown in fig. 5, the microcontroller of tag reader adopts S1C17F57 (501) chip as the controller core circuit.Digital signal processor TMS320C203 (502) chip is responsible for the carrier parameter that extracts is carried out the distance values computing, result of calculation deposits among the internal data memory EEPROM (503) and preserves, and reach switch by communication bus interface (504), then reach host computer PC and carry out subsequent treatment, high-pressure generator (505) is responsible for improving required high voltage to it in EEPROM storage data procedures, and mode register (506) is responsible for storage from the mode data of EEPROM piece 0.Radio-frequency module MCRF355 (507) adopts many omnidirectional antennas (508) parallel way as the transmitting terminal antenna, be responsible for transmitting and receiving electromagnetic wave signal, detuner CMX7041Q3 (509) chip is responsible for receiving signal demodulation system, and redundancy check device CRC-16 (510) is responsible for the accuracy that check receives signal.Display led (511) is responsible for the current Information Monitoring of display label card reader and duty.Order when the responsible recorded electronic label of timer MT8980D (512) enters tag reader, thus electronic tag will connect with tag reader in order one by one, has avoided interfering with each other between electronic tag.
In the embodiment shown in fig. 6, microcontroller adopts S1C17F57 (501) chip, and voltage reference device LM4040 (601) is responsible for microcontroller provides burning voltage.Whether timer NE555 (602) chip is responsible for activating the electronic tag of dormant state, and the state that detecting device MT8989D (603) chip is responsible for arranging the electronic tag detection signal sets to 0 or put 1, thereby select to establish a communications link with tag reader.The random number that randomizer RNG (604) is responsible for the unit producing is set the initial value of time slot counter MT8980D (605), processes thereby carry out anticollision.Data-carrier store EEPROM (503) is responsible for device parameter and the label identifier of store electrons label, the required current potential of data-carrier store is 12V, and the responsible limiting voltage with mine lamp portable type charging cell device of amplitude limiter circuit JB726 (606) is behind the 12V data storer and microcontroller to be powered.Modulator CMX7041L4 (607) is responsible for the device parameter of electronic tag and label identifier are passed through envelope detector (608) and pulse shaper (609) together, form the rect.p. stream of original encoding signal, export radio-frequency module MCRF355 (507) to by 16MHz crystal oscillator (610) afterwards, be emitted to tag reader by omnidirectional antenna (508).Clock generator RTM360-111R (611) chip is used for providing stabilizing clock to microcontroller S1C17F57 (501) chip, time slot counter MT8980D (605) and amplitude limiter circuit JB726 (606).
Claims (8)
1. Personnal positioner under well based on REID, comprise tag reader, electronic tag, switch, host computer PC, central authorities' display screen and optical fiber, it is characterized in that installing and fixing in the underworkings at least three station symbol label card reader, tag reader connects by the electronic tag that radio frequency electromagnetic and personnel in the pit wear, tag reader is measured personnel in the pit and tag reader spacing according to location algorithm, measurement result is reached the down-hole switch by communication bus, after switch gathers by optical fiber transmission to the ground host computer PC, host computer PC is integrated all uploading datas according to the electronic label identification symbol and is sorted out, use three limit ranging formulas to calculate successively every personnel in the pit's coordinate the distance values of per three same identifier, positioning result is deposited in the server together with the unification of personnel's essential information, and in central display screen, show in real time, for aboveground managerial personnel and the personnel that lower well operations provide reference by location.
2. the Personnal positioner under well based on REID according to claim 1 is characterized in that adopting the Propagation models of electromagnetic wave propagation that more meets subsurface environment and damped expoential algorithm to measure distance between personnel in the pit and the tag reader.
3. the Personnal positioner under well based on REID according to claim 1 is characterized in that tag reader comprises with lower module: microcontroller module, data processing module, memory module, timing module, radio-frequency module, interface circuit, display module; Electronic tag comprises with lower module: microcontroller module, detection module, anticollision module, memory module, voltage control module, modulation module, radio-frequency module, clock generation module.
4. according to claim 1 or 3 described Personnal positioner under well based on REID, it is characterized in that the data processing module of tag reader comprises digital signal processor, detuner and redundancy check device; Memory module comprises internal data memory, high-pressure generator and mode register; Radio-frequency module adopts the standard chips that meets ISO/IEC 18000-6 agreement, and the radio-frequency antenna end has adopted many omnidirectional antennas.
5. according to claim 1 or 3 described Personnal positioner under well based on REID, it is characterized in that the voltage control module of electronic tag comprises amplitude limiter circuit and voltage reference device; Modulation module comprises modulator, envelope detector, pulse shaper and 16MHz crystal oscillator; The anticollision module comprises randomizer and time slot counter; Clock generation module comprises timer and clock generator.
6. according to claim 1 or 4 described Personnal positioner under well based on REID, it is characterized in that adopting the TMS320C203 chip as the core circuit of digital signal processor in the tag reader, this built-in chip type mlultiplying circuit can carry out analysis and solution to comparatively complicated location algorithm instruction.
7. the Personnal positioner under well based on REID according to claim 1 is characterized in that every station symbol label card reader air line distance of being separated by remains on more than 3 meters.
8. the Personnal positioner under well based on REID according to claim 1 is characterized in that tag reader places a metal protection shell.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102890767A (en) * | 2012-08-27 | 2013-01-23 | 中国矿业大学(北京) | Underground personnel positioning system and method based on radio frequency identification technology |
| CN104131841A (en) * | 2014-07-18 | 2014-11-05 | 天地（常州）自动化股份有限公司 | Precise positioning device for fast tunneling equipment in coal mine coal mining tunnel |
| CN105068123A (en) * | 2015-08-05 | 2015-11-18 | 中国矿业大学 | Electromagnetic radiation positioning method for coal and rock dynamical disasters |
| CN110650532A (en) * | 2019-09-29 | 2020-01-03 | 桂林电子科技大学 | RFID-based medical bed positioning system and positioning method thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102890767A (en) * | 2012-08-27 | 2013-01-23 | 中国矿业大学(北京) | Underground personnel positioning system and method based on radio frequency identification technology |
| CN102890767B (en) * | 2012-08-27 | 2015-07-15 | 中国矿业大学(北京) | Underground personnel positioning system and method based on radio frequency identification technology |
| CN104131841A (en) * | 2014-07-18 | 2014-11-05 | 天地（常州）自动化股份有限公司 | Precise positioning device for fast tunneling equipment in coal mine coal mining tunnel |
| CN104131841B (en) * | 2014-07-18 | 2016-04-13 | 天地（常州）自动化股份有限公司 | Speedy drivage equipment accurate positioning device in coal mining tunnel |
| CN105068123A (en) * | 2015-08-05 | 2015-11-18 | 中国矿业大学 | Electromagnetic radiation positioning method for coal and rock dynamical disasters |
| CN110650532A (en) * | 2019-09-29 | 2020-01-03 | 桂林电子科技大学 | RFID-based medical bed positioning system and positioning method thereof |
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