CN202870292U - Distance-constraint-based electromagnetic and ultrasound wave combined positioning system for down holes - Google Patents
Distance-constraint-based electromagnetic and ultrasound wave combined positioning system for down holes Download PDFInfo
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- CN202870292U CN202870292U CN 201220330441 CN201220330441U CN202870292U CN 202870292 U CN202870292 U CN 202870292U CN 201220330441 CN201220330441 CN 201220330441 CN 201220330441 U CN201220330441 U CN 201220330441U CN 202870292 U CN202870292 U CN 202870292U
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Abstract
The utility model discloses a distance-constraint-based electromagnetic and ultrasound wave combined positioning system for down holes. The system comprises a ground monitoring center, an upper level terminal, a down hole center station, gateway nodes, an optical fiber, a bus, positioning anchor nodes, and mobile nodes, wherein the natures of equipment applied to the down hole are all intrinsically safe. In the system, according to the attribute characteristics of electromagnetic and ultrasonic waves, a simplified formula for the ratio of the distances from the mobile node to two anchor nodes is obtained through a logarithmic-normal model formula by using appropriate approximation algorithms. The longitudinal coordinate of the mobile node in a laneway is obtained by taking the fixed distance between the two anchor nodes as a constraint condition. According to the ranging principle of TOF, the distance from the mobile node to the wall of the laneway is obtained through ranging by using the ultrasonic waves, the horizontal coordinate of the mobile node in the laneway is obtained, and then the two-dimensional position coordinates of the mobile node are obtained, so that the accurate positioning is realized. The system has the advantages of high positioning accuracy, low cost, little energy consumption, and simple equipment structure.
Description
Technical field
The utility model relates to coal mine downhole safety monitoring field, specifically, relates to a kind of based on electromagnetic wave ultrasonic in combination positioning system under the coal mine of geometrical constraint.
Background technology
Coal is the main energy sources of China, but because China's coal field geology complicated condition, working condition is abominable, and the life security of underground operators is subject to serious threat.In case have an accident, the ground staff needs in time to grasp personnel in the pit's particular location.Therefore, target accurate positioning method and system under the Study on Coal mine, for ensureing that downhole safety production, emergency management and rescue all have important practical significance, the raising of down-hole object locating system precision will greatly promote the lifting of coal mine downhole safety production level.
Because the tunnel is relatively airtight, can't come target localization under the slab hole by the existing satnav in the ground such as GPS; The mine localizing objects is in restriceted envelope, and the volume of positioning equipment can not be too large; The down-hole has inflammable gas and the coal dusts such as methane, and down-hole positioning device must be electric apparatus for explosive gas; Wireless channel environment in the tunnel is abominable, exists the phenomenons such as a large amount of reflections, scattering, diffraction and transmission.These can not directly apply under the coal mine localization method of ground maturation.
The wireless transmission medium of Technology for Target Location employing both at home and abroad is mainly take electromagnetic wave as main at present.Localization method take electromagnetic wave as transmission medium mainly is divided into based on the method for range finding (Range-based) with based on non-range finding (Range-free) method.The Range-based method is by measuring distance and the angle of point-to-point, the position of using trilateration (Trilateration), triangulation (Triangulation) or maximal possibility estimation (Multilateration) algorithm computing node; The Range-free method is then estimated node location according to the connection attribute of network.
The Range-based method mainly contains received signal strength indicator (Receiced Signal Strength Indiction, RSSI), time of arrival (Time of Arrival, TOF), time of arrival poor (Time Difference of Arrival, TDOA) and arrive angle (Angle of Arrival, AOA) etc., rear three kinds of methods are all very high to the requirement of hardware, consider from the cost angle, be not suitable for being applied under the coal mine, when finding range based on the RSSI method, when distance hour requires very highly to the sensitivity of receiver, error is difficult to guarantee.
Typical Range-free location algorithm comprises DV-Hop, convex programming, MDS-MAP etc., the Range-free method need not the distance between measured node and arrives angle, aspect the cost of radio node and the power consumption certain advantage is being arranged, but bearing accuracy is relevant with density and the placement policies of anchor node, improving precision just needs to increase the density of anchor node, but the layout of anchor node is limited by tunnel and working environment, on the one hand, can't guarantee the random layout of anchor node in the narrow space, on the other hand, increase the quantity of anchor node except the raising that means cost, also cause the rising of failure rate and the reduction of reliability.
The at present domestic down-hole object locating system (some is called position detecting system or operating personnel's management system etc.) that obtains mining product safety notice card, all adopt electromagnetic wave as wireless transmission medium, have based on RFID, bluetooth, the different technologies such as WiFi and ZigBee and agreement, wherein the most general with the RFID technology, but the technical characterstic of RFID has determined bearing accuracy and has depended on the density of card reader, this has just limited the raising of bearing accuracy, so much the system based on the RFID technology does not have " location " function strictly speaking, and be " position probing ", can only determine personnel in the pit's approximate region; The Bluetooth technology transmission range is short, poor anti jamming capability, less stable in the Minepit environment; At present, the precision of the object locating system of using at home is all greater than 5 meters, and the width of present domestic mine laneway generally is not more than 10 meters, that is to say, at present the mine object locating system can only provide localizing objects in the tunnel information on vertically.
Domestic mine object locating system transmission medium all is electromagnetic wave, as adopting TDOA and the AOA location algorithm based on range finding, very high to hardware requirement, the hardware condition of down-hole can't satisfy substantially, as adopting the RSSI method based on range finding, precision is difficult to guarantee in short range, as adopting based on non-distance-finding method, density and placement policies to anchor node have very high requirement, and this is difficult to realize in Working Environment of Underground Mine.
Can reach higher precision when utilizing ultrasound wave to carry out finding range than close-target; Hyperacoustic velocity of propagation is far below electromagnetic wave, and is lower to hardware requirement; Ultrasound wave resolution is higher, and is insensitive to illuminance and electromagnetic field, adapts to rugged surroundings under the coal mine; Ultrasonic ranging only needs an end to transmit, and the other end need not to install other devices, the time that the ultrasound wave of only returning by detection of reflected arrives, just can realize point-device range finding, and ultrasonic ranging is simple in structure, is easy to miniaturization and integrated.But the aerial decay of ultrasound wave is larger, is only applicable to the range finding in the small distance.
In sum, electromagnetic wave and ultrasound wave have advantage separately, and a kind of wireless medium of simple use is difficult to realize that the down-hole target accurately locates.
The utility model content
The purpose of this utility model is, the precision that exists for the down-hole Technology for Target Location is inadequate, and the raising of precision is subject to subsurface environment and the serious problem of cost restriction, and consider mostly to use with research all merely based on a kind of physical transmission medium at present, can not fully utilize the present situation of the advantage of each transmission medium, disclose a kind of down-hole object locating system simple in structure.Native system is according to electromagnetic wave, hyperacoustic characteristic, and in conjunction with the space structure characteristics in tunnel, utilizes a small amount of anchor node and simple algorithm to realize in real time accurate target localization, can well satisfy the needs of mine target localization.
Realization thought of the present utility model is as follows:
Underground moving target (comprising underground work personnel and other mobile devices) is worn mobile node, anchor node is placed in back, mobile node is by launching ultrasonic signal and receive the lateral coordinates that reflection echo records mobile node to a side wall, by receiving the electromagnetic wave signal of former and later two anchor node emissions, according between two known anchor nodes apart from this constraint condition, obtain the along slope coordinate of mobile node, and then obtain the two-dimensional position coordinate of mobile node in the tunnel.
The utility model is a kind of down-hole object locating system based on wireless sensor network (Wireless Sensor Network, WSN), comprises ground monitoring center, upper strata terminal, down-hole central station, gateway node, optical fiber, bus, positioning anchor node, mobile node.The underground equipment that relates in system comprises: the down-hole central station, and gateway node, bus, the positioning anchor node, mobile node all is intrinsically safe equipment.
Described ground monitoring center is a computing machine or server, or the computer network that forms of many computing machines or server.The ground monitoring center receives the locator data bag of sending from the down-hole from the down-hole central station, processes the locator data bag, and the ground monitoring center sends real-time Monitoring Data to the upper strata terminal by Internet network connection upper strata terminal.
Described upper strata terminal is the Surveillance center that locates in distant, is connected with the ground monitoring center by the Internet network, obtains Real-time Monitoring Data.
Described down-hole central station is switch, is responsible for the information that the aggregation gateway node sends by bus, and arrives the ground monitoring center by Optical Fiber Transmission.
Described gateway node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, sensor, power supply and bus module.Gateway node is laid in the end in every tunnel and is responsible for receiving the locator data bag that anchor node is transmitted, and it is sent to the down-hole central station by bus.
Described anchor node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, sensor, power supply.Anchor node hangs on the top board in the tunnel, distance to both sides wall equates, anchor node receives the position location request signal of mobile node emission, and respond this request signal to mobile node emitting electromagnetic wave positioning signal, receive the locator data bag that mobile node forms, anchor node is sent to adjacent anchor node or gateway node with the locator data bag of mobile node, the locator data bag of each anchor node reception adjacent anchor node and storage forwarding are to another adjacent anchor node, relay is transmitted the locator data bag until gateway node, each anchor node distributes a unique numeral number N, corresponding with its coordinate position, corresponding relation is stored in the ground monitoring center; The direction that regulation underworkings along slope coordinate axial coordinate increases is positive dirction, and the numerical value of N increases along positive dirction.
Described mobile node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, ultrasonic transmission/reception unit, sensor, power supply, each mobile node distributes an identification code, identification code is unique corresponding with the personnel identity that carries mobile node or device name, and corresponding relation is stored in the ground monitoring center; Mobile node is take ultrasound wave as transmission medium to side wall emission ultrasonic signal and receive reflection echo, measure the distance of itself and wall, namely obtain the lateral coordinates of mobile node in the tunnel, take electromagnetic wave as transmission medium and anchor node communicate, obtain receiving intensity and anchor node numeral number that anchor node transmits, process forming the locator data bag; Mobile node sends to nearest cat node with the locator data bag, and the storage forwarding between locator data bag process anchor node is to the ground monitoring center.
Described bus is the CAN bus, or local area network bus, or the RS-485 bus, connects gateway and down-hole central station, realizes the data transmission between gateway node and the down-hole central station.
The data transmission between down-hole central station and the ground monitoring center is realized at described optical fiber connecting downhole central station and ground monitoring center.
Bus module in ultrasonic transmission/reception unit in sensor in the gateway node of the downhole electromagnetic ripple ultrasonic in combination positioning system of described distance-based constraint, anchor node, the mobile node, electromagnetic wave Transmit-Receive Unit, the mobile node and the gateway node links to each other with processor storage unit in each node respectively; The electromagnetic wave Transmit-Receive Unit of each node receives and sends the radio magnetic wave signal, and the ultrasonic transmission/reception unit in the mobile node receives and send ultrasonic signal; Sensor in gateway node, anchor node and the mobile node detects temperature, humidity, the methane concentration information of surrounding environment, and the testing result transmission mode identical with locator data is sent to the ground monitoring center; Processor storage unit storage in each node, the data that processing receives are controlled the operation of other unit; Bus module in the gateway node connects bus; Power supply in each node provides electric energy.
The beneficial effects of the utility model are:
1. the utility model adopts the lateral coordinates that records mobile node based on the ultrasonic distance-measuring method of TOF (time of flight), supersonic sounding can be by the mobile node complete independently, need not other anchor node cooperates, so that the required anchor node quantity of positioning system significantly reduces, the cost and the energy expense that make up whole system have been reduced greatly.
2. the utility model adopts electromagnetic positioning to measure the interior distance of scope far away, use ultrasonic ranging to measure the interior distance of close range, the precision of ultrasonic ranging is very high, can reach grade, even higher, generally use under the coal mine at present based on RFID (Radio Frequency Identification) REID, whether can only determine mobile node by certain card reader, the utility model has improved the precision of location greatly.
3. the utility model adopts the method that directly records the transverse and longitudinal coordinate, and algorithm is very easy, the power consumption that complicated algorithm brings so that algorithm to the decrease that requires of hardware, has reduced.Algorithm simple reduced the bandwidth that locator data takies so that be sent to data in the system seldom, also reduced the time-delay of location.
4. the utility model adopts the method for distance-based constraint to record the along slope coordinate of mobile node, rather than directly record anchor node to the distance of mobile node by logarithm-normal distribution model, by using distance fixing between two anchor nodes to be constraint condition, add suitable approximate data, obtain the ordinate of mobile node, like this so that the location is more accurate.
Description of drawings
Fig. 1 is composition frame chart of the present utility model;
Fig. 2 is that synoptic diagram is laid in down-hole of the present utility model;
Fig. 3 is mobile node circuit block diagram of the present utility model;
Fig. 4 is the circuit block diagram of anchor node of the present utility model;
Fig. 5 is the circuit block diagram of gateway node of the present utility model;
Fig. 6 is mobile node anchor node position relationship synoptic diagram of the present utility model;
Fig. 7 is the synoptic diagram of the utility model function implementation;
Fig. 8 is the simplified schematic diagram of the utility model function implementation.
Embodiment
More cheer and bright for the content and the advantage that make technical solutions of the utility model, below in conjunction with accompanying drawing, embodiment of the present utility model is further described in detail.
The utility model is based on the downhole electromagnetic ripple ultrasonic in combination positioning system of distance restraint, it is a kind of down-hole object locating system based on wireless sensor network, mainly in the deficiency of prior art aspect the target localization of down-hole at aspects such as bearing accuracy, cost restrictions, based on the space structure characteristics of electromagnetic wave, hyperacoustic attribute own and underworkings, propose a kind of based on wireless sensor network down-hole object locating system.
Function implementation of the present utility model is mainly finished by mobile node itself and two anchor nodes closing on it: underground moving target (comprising underground work personnel and other mobile devices) is worn the mobile node that can transmit and receive ultrasound wave and two kinds of wireless signals of electromagnetic wave, mobile node is by recording the lateral coordinates of mobile node to side wall emission ultrasonic signal, by receiving its signal intensity of position location signal acquisition of former and later two anchor node emissions, utilize the distance between the known anchor node, obtain the along slope coordinate of mobile node, and then obtain the two-dimensional coordinate of mobile node in the tunnel.
Below in conjunction with accompanying drawing, describe embodiment of the present utility model in detail.
Fig. 1 is composition frame chart of the present utility model.
As shown in Figure 1, the utility model comprises ground monitoring center 1, down-hole central station 2, gateway node 3, optical fiber 4, bus 5, anchor node 6, mobile node 7, upper strata terminal 8.
The ground monitoring center is a computing machine or server, or the computer network that forms of many computing machines or server.The ground monitoring center receives the locator data bag of sending from the down-hole from the down-hole central station, and processes the locator data bag.And the ground monitoring center sends real-time Monitoring Data to the upper strata terminal by Internet network connection upper strata terminal.
Down-hole central station 2 is switches, is responsible for the data message that the aggregation gateway node sends by bus, and arrives the ground monitoring center by Optical Fiber Transmission.
Fig. 2 is that synoptic diagram is laid in down-hole of the present utility model.
As shown in Figure 2,9 is the down-hole central station, and it is positioned at the hub site in large lane, down-hole, be convenient to the information that sends by bus aggregation gateway node and by optical fiber 4 with the communication of down-hole to the ground monitoring center; 10 is gateway node, 12 is anchor node, 13 is mobile node, in the tunnel anchor node along the tunnel vertical in one line hanging at back, anchor node equates to the distance of both sides wall, the distance of any two adjacent anchor nodes should be not more than wireless communication distance between anchor node, be not more than the covering radius of mobile node electromagnetic wave signal, guarantee to communicate by letter between adjacent two anchor nodes, and mobile node optional position in the tunnel all has at least two anchor nodes to receive the electromagnetic wave signal of its emission, gateway node is laid in the end points in a tunnel, the distance of the anchor node at itself and tunnel end points place should be not more than the wireless communication distance between anchor node and the gateway node, has at least electromagnetic transmission that an anchor node can be by sighting distance that the locator data bag of mobile node emission is transmitted to gateway node to guarantee every tunnel; 11 is bus, gateway node is connected with the down-hole central station by bus, the locator data bag of mobile node emission is by being forwarded to gateway node by the radio magnetic wave relay between anchor node in the branch heading, and gateway node gathers the locator data bag to the down-hole central station by bus again.
Fig. 3 is mobile node circuit block diagram of the present utility model.
As shown in Figure 3, mobile node comprises processor storage unit 12, wireless transmit/receive units 13, sensor 14, battery 15.Wherein wireless transmit/receive units 13, sensor 14 all link to each other with processor storage unit 12.Wireless transmit/receive units 13 comprises electromagnetic wave Transmit-Receive Unit and ultrasonic transmission/reception unit two parts, be responsible for respectively sending and receiving electromagnetic wave signal and ultrasonic signal, the information such as the temperature of sensor 14 responsible perception surrounding environment, humidity, methane concentration are carried out real-time monitoring to environment; So contacting of processor and storer the most closely is seen as a unit 12, be responsible in addition, in the mobile node storer, storing the identification code of node to receiving the operation of data storage, processing and other unit of control; Power supply 15 is connected with each unit, is responsible for unit electric energy is provided; The corresponding unique identification code of each mobile node, corresponding relation is stored in the ground monitoring center.Mobile node use ultrasonic measurement its with the distance of wall and bottom surface, tunnel, mobile node adopts IEEE802.11b agreement and anchor node to communicate, and obtains receiving intensity and anchor node numeral number that anchor node transmits, processing formation locator data bag; Mobile node adopts the IEEE802.11b agreement that the locator data bag is sent to nearest cat node equally, and packet is finally sent to the ground monitoring center through the storage forwarding between anchor node.
Fig. 4 is the circuit block diagram of anchor node of the present utility model.
As shown in Figure 4, anchor node comprises processor storage unit 16, electromagnetic wave Transmit-Receive Unit 17, sensor 18, battery 19.Its wireless transmit/receive units of comparing with the circuit block diagram of mobile node just mobile node becomes the electromagnetic wave Transmit-Receive Unit, because anchor node only transmits and receives electromagnetic wave signal, other parts are identical with the functions of mobile node; Anchor node hangs on the top board in the tunnel, distance to both sides wall equates, anchor node receives the position location request signal of mobile node emission and is responded, to mobile node emitting electromagnetic wave positioning signal, receive mobile node and process the locator data bag that forms, the radio communication of anchor node and mobile node adopts the IEEE802.11b agreement, anchor node is sent to adjacent anchor node or gateway node with the locator data bag of mobile node, the locator data bag of each anchor node reception adjacent anchor node and storage forwarding are to another adjacent anchor node, relay is transmitted the locator data bag until gateway node, between anchor node and the gateway node and the radio communication between anchor node and the anchor node all adopt the agreements such as IEEE802.15.4, each anchor node distributes a unique numeral number N, corresponding with its coordinate position, corresponding relation is stored in the ground monitoring center; The direction that regulation underworkings along slope coordinate axial coordinate increases is positive dirction, and the numerical value of N increases along positive dirction.
Fig. 5 is the circuit block diagram of gateway node of the present utility model.
As shown in Figure 5, gateway node comprises processor storage unit 20, bus module 21, electromagnetic wave Transmit-Receive Unit 22, sensor 23, power supply 24.The circuit block diagram of gateway node is compared with the anchor node circuit block diagram, only many bus modules 21, and its effect is to connect bus, the effect of other unit is identical with each the unit effect among top described Fig. 4; Gateway node is supported the agreements such as IEEE802.15.4, radio communication between anchor node and the gateway node adopts the agreements such as IEEE802.15.4, gateway node is laid in the end in every tunnel and is responsible for receiving the packet that anchor node is transmitted, and it is sent to the down-hole central station by bus.
Fig. 6 is position relationship synoptic diagram in the mobile node anchor node of the present utility model tunnel; Fig. 7 is the synoptic diagram of the utility model function implementation; Fig. 8 is the simplified schematic diagram of the utility model function implementation.
As shown in Figure 7, for the location of a mobile node 32, need to cooperate with 30,31 two anchor nodes and finish.Point 33 is the intersection point of 30,31 lines from mobile node 32 to anchor node, four-headed arrow dotted line 34 expression mobile nodes 32 are to the ultrasonic signal of wall emission and the reflection echo of reception, the position location request signal of double-lined arrow dotted line 35,36 expression mobile nodes emissions and anchor node 30,31 receive this request signal and are responded, to mobile node 32 emissions the position location signal; Mobile node is periodically to side wall emission ultrasonic signal, and the reception reflection echo, the hyperacoustic time t of record emission
1, receive the time t of wall reflection echo
2, the environment temperature T that record this moment, sensor recorded simultaneously (℃); Because mobile node is a lot of in the tunnel, and also there is serious multipath effect in ultrasonic signal in the tunnel, so the ultrasound wave of mobile node emission of the present utility model adopts the thought of CDMA, quantity according to the underground moving target generates the PN code, PN code of each moving target, corresponding with its title or identity; When mobile node is periodically launched ultrasonic signal to a side wall in the tunnel, active is the emitting electromagnetic wave positioning request signal towards periphery, comprise the mobile node identification code in the signal, the anchor node of receiving positioning request signal is responded, to mobile node emitting electromagnetic wave positioning signal, comprise the numeral number of mobile node identification code and anchor node in the signal; The mobile node selective reception comprises the position location signal of own numeral number, measures the signal intensity of all selective reception signals, is designated as P
Ri, i=1,2 ... n, n is the number of signals of the anchor node of selective reception, gets wherein two signals of signal intensity maximum, establishes its numeral number and is respectively N
1, N
2, and N
1＜N
2And abandon other signal, mobile node has found from its two nearest anchor nodes like this, as shown in Figure 6, for mobile node 28, if can receiving, it comprises anchor node 25,26, the 27 position location signals in interior a plurality of anchor node emissions, then two of the signal intensity maximum position location signals must be to be launched by anchor node 25 and anchor node 26 respectively, then the position location signal of anchor node 27 and other anchor node emission is abandoned, and then can judge that mobile node 28 is between anchor node 25 and anchor node 26, if right-hand among Fig. 6 is the positive dirction of ordinate in the tunnel, according to top described, then the numeral number of anchor node 25 is N
1, the numeral number of anchor node 26 is N
2, establish anchor node N
1Received signal strength be P
R1, anchor node N
2Received signal strength be P
R2, mobile node is with P
R1, P
R2, t
1, t
2, N
1, N
2, T and mobile node identification code break into the locator data bag, send to apart from its nearest anchor node, if P
R1＞P
R2, illustrate that mobile node is apart from anchor node N
1Nearer, then send to anchor node N
1Otherwise, then send to anchor node N
2, as shown in Figure 6, mobile node 28 is nearer apart from anchor node 25, then sends the locator data bag to anchor node 25, and mobile node is nearer apart from anchor node 27, then sends the locator data bag to anchor node 27.
Anchor node is transmitted the gateway node that the locator data bag is sent to tunnel, place end points by relay, and gateway node is sent to the down-hole central station with the locator data bag by bus, and the down-hole central station is sent to the ground monitoring center by optical fiber with the locator data bag; The ground monitoring center receives the locator data bag of transmitting up from the down-hole, extracts the information in the receipt bag, and by calculating the two-dimensional coordinate in the down-hole of mobile node, the principle of calculating the mobile node two-dimensional coordinate is as follows:
Calculate the mobile node horizontal ordinate: total transit time of ultrasound wave is t
2-t
1, establishing mobile node is x to the distance of wall, namely the lateral coordinates of mobile node then gets according to TOF (Time of Flight) transit time detection method
x＝c(t
2-t
1)/2
Wherein c is hyperacoustic speed.
For the precision that makes range finding further improves, the sensor of environmental information around the mobile node configuration can detect methane concentration, temperature etc. in real time, if the temperature of the surrounding environment that sensor detects be T (℃), serviceability temperature T carries out real-Time Compensation to the velocity of sound, its approximate formula is
c＝c
0+0.607T
In the formula: c
0Hyperacoustic velocity of propagation when being zero degree for temperature.Then the formula of mobile node horizontal ordinate is (1) formula.
x＝(c
0+0.607T)·(t
2-t
1)/2(1)
Calculate the mobile node ordinate: the along slope coordinate that obtains mobile node by the electromagnetic distance measurement of distance-based constraint.Need to use logarithm-normal distribution model by the range finding of RSSI method in the tunnel, its expression formula is
P in the formula (d) expression process is apart from the path loss behind the d, and unit is dBm; δ is the path attenuation factor, and its numerical value depends on the communication environments of wireless signal, and it is an empirical value; d
0Be the distance between transmitting node and the reference mode, generally get 1m; X
σFor standard deviation is the zero-mean normally distributed random variable of σ, unit is dBm.P (d
0) can get d by the free space model
0=1m obtains, and free space propagation model is such as (2) formula.In the formula, f is the carrier wave frequency of operation, and unit is MHz.
L
oss＝32.44+10δlgd+10δlgf (2)
According to pertinent literature, can approach logarithm-normality model profile model, i.e. (3) formula with simplified model
If it is P that mobile node receives the electromagnetic wave signal intensity of anchor node emission
R, the distance that then is easy to obtain between anchor node and the mobile node according to formula (3) is
As shown in Figure 7, then according to formula (4) obtain mobile node 32 to anchor node 30 distance be d
1, be d to the distance of anchor node 31
2, according to the P in the locator data bag
R1, P
R2, try to achieve d
1, d
2Expression formula be respectively (5) formula and (6) formula.
Then can draw following shifting onto:
Namely have
As shown in Figure 8, the anchor node 30 in the A presentation graphs 7, anchor node 31 in the B presentation graphs 7, and mobile node 32 in the C presentation graphs 8, the intersection point point 33 in the D presentation graphs 8, then AC and BC in right-angle triangle ADC and right-angle triangle BDC, then have respectively
Then
In the tunnel, the distance between two walls is very short, generally at 3m between the 5m, then the length range of CD is between 1.5m and 2.5.The distance of tunnel bearing of trend can arrive hundreds of rice even longer, the electromagnetic wave emissive power that allows according to the down-hole also can make finding range reach more than the 50m, then the distance between two anchor nodes can reach more than the 50m, so the length of CD is negligible with respect to the length of AD and BD.Then have according to (8) formula
Then can get according to formula (7) and formula (9)
Then
Wherein
BD+AD＝y
2-y
1
Then
Then the ordinate of mobile node is
Then the coordinate of mobile node is
The information that the ground monitoring center only needs to extract from the locator data bag is brought following formula into, can finish the location of mobile node.
Claims (3)
1. the downhole electromagnetic ripple ultrasonic in combination positioning system of a distance-based constraint is characterized in that, comprises the ground monitoring center, upper strata terminal, down-hole central station, gateway node, optical fiber, bus, anchor node, mobile node;
Described ground monitoring center is a computing machine or server, or the computer network that forms of many computing machines or server; The ground monitoring center receives the locator data bag of sending from the down-hole from the down-hole central station, processes the locator data bag;
Described upper strata terminal is the Surveillance center that locates in distant, is connected with the ground monitoring center by the Internet network, obtains Real-time Monitoring Data;
Described down-hole central station is switch, and the locator data bag that the aggregation gateway node sends by bus arrives the ground monitoring center by Optical Fiber Transmission;
Described gateway node is laid in the end points in a tunnel, receives the locator data bag of the mobile node emission of anchor node forwarding, is sent to the down-hole central station by bus;
Described each mobile node distributes an identification code, and identification code is unique corresponding with the personnel identity that carries mobile node or device name, and corresponding relation is stored in the ground monitoring center; Mobile node is take ultrasound wave as transmission medium to side wall emission ultrasonic signal and receive reflection echo, measure the distance of itself and wall, take electromagnetic wave as transmission medium and anchor node communicate, obtain receiving intensity and anchor node numeral number that anchor node transmits, process forming the locator data bag; Mobile node sends to nearest anchor node with the locator data bag, and the storage forwarding between locator data bag process anchor node is to the ground monitoring center;
Described anchor node hangs on back, equates apart from both sides wall distance; Anchor node is to mobile node emitting electromagnetic wave positioning signal, receive position location request signal and the locator data bag of mobile node emission, the locator data bag of mobile node is sent to adjacent anchor node or gateway node, the packet of each anchor node reception adjacent anchor node and storage forwarding are to another adjacent anchor node, relay forwarding data bag is until to gateway node, each anchor node distributes a numeral number N, numeral number is corresponding with its position coordinates, and corresponding relation is stored in the ground monitoring center; The direction that regulation underworkings along slope coordinate axial coordinate increases is positive dirction, and the numerical value of N increases along positive dirction;
Described bus is the CAN bus, or local area network bus, or the RS-485 bus, and connection network articulation point and down-hole central station are realized the data transmission between gateway node and the down-hole central station;
Described optical fiber connecting downhole central station and ground monitoring center, the data transmission of realization ground monitoring center and down-hole central station;
Underground equipment in the described downhole electromagnetic ripple ultrasonic in combination positioning system comprises gateway node, bus, anchor node, mobile node, is intrinsically safe equipment entirely.
2. the downhole electromagnetic ripple ultrasonic in combination positioning system of described distance-based constraint according to claim 1 is characterized in that described gateway node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, sensor, power supply, bus module;
Described anchor node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, sensor, power supply;
Described mobile node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, ultrasonic transmission/reception unit, sensor, power supply.
3. the downhole electromagnetic ripple ultrasonic in combination positioning system of described distance-based constraint according to claim 2, it is characterized in that the bus module in the ultrasonic transmission/reception unit in the sensor in gateway node, anchor node, the mobile node, electromagnetic wave Transmit-Receive Unit, the mobile node and the gateway node links to each other with processor storage unit in each node respectively; The electromagnetic wave Transmit-Receive Unit of each node receives and sends the radio magnetic wave signal, and the ultrasonic transmission/reception unit in the mobile node receives and send ultrasonic signal; Sensor in gateway node, anchor node and the mobile node detects temperature, humidity, the methane concentration information of surrounding environment, and the testing result transmission mode identical with locator data is sent to the ground monitoring center; Processor storage unit storage in each node, the data that processing receives are controlled the operation of other unit; Bus module in the gateway node connects bus; Power supply in each node provides electric energy.
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| CN 201220330441 CN202870292U (en) | 2012-07-09 | 2012-07-09 | Distance-constraint-based electromagnetic and ultrasound wave combined positioning system for down holes |
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| CN 201220330441 CN202870292U (en) | 2012-07-09 | 2012-07-09 | Distance-constraint-based electromagnetic and ultrasound wave combined positioning system for down holes |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102721944A (en) * | 2012-07-09 | 2012-10-10 | 中国矿业大学(北京) | Distance-constraint-based electromagnetic and ultrasound wave combined positioning system and method for downholes |
| CN103616666A (en) * | 2013-11-29 | 2014-03-05 | 天津孚感科技有限公司 | Method and system for complex space ranging and positioning |
| CN104901854A (en) * | 2014-05-29 | 2015-09-09 | 胡名标 | Underground mine safety system |
| WO2015192376A1 (en) * | 2014-06-20 | 2015-12-23 | 奇点新源国际技术开发(北京)有限公司 | Method and device for assigning ordered numbers to mounted nodes on bus |
| CN107923964A (en) * | 2015-09-14 | 2018-04-17 | 红点定位公司 | Method for estimating and compensating the NLOS deviations in reaching time-difference estimation |
-
2012
- 2012-07-09 CN CN 201220330441 patent/CN202870292U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102721944A (en) * | 2012-07-09 | 2012-10-10 | 中国矿业大学(北京) | Distance-constraint-based electromagnetic and ultrasound wave combined positioning system and method for downholes |
| CN103616666A (en) * | 2013-11-29 | 2014-03-05 | 天津孚感科技有限公司 | Method and system for complex space ranging and positioning |
| CN104901854A (en) * | 2014-05-29 | 2015-09-09 | 胡名标 | Underground mine safety system |
| WO2015192376A1 (en) * | 2014-06-20 | 2015-12-23 | 奇点新源国际技术开发(北京)有限公司 | Method and device for assigning ordered numbers to mounted nodes on bus |
| CN107923964A (en) * | 2015-09-14 | 2018-04-17 | 红点定位公司 | Method for estimating and compensating the NLOS deviations in reaching time-difference estimation |
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