CN202931556U - Underground personnel locating system - Google Patents

Underground personnel locating system Download PDF

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Publication number
CN202931556U
CN202931556U CN2012206215200U CN201220621520U CN202931556U CN 202931556 U CN202931556 U CN 202931556U CN 2012206215200 U CN2012206215200 U CN 2012206215200U CN 201220621520 U CN201220621520 U CN 201220621520U CN 202931556 U CN202931556 U CN 202931556U
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China
Prior art keywords
positioner
communication base
base station
radio communication
personnel
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Expired - Fee Related
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CN2012206215200U
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Chinese (zh)
Inventor
孙继平
刘毅
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
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China University of Mining and Technology Beijing CUMTB
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Priority to CN2012206215200U priority Critical patent/CN202931556U/en
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02DCLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00Reducing energy consumption in communication networks
    • Y02D30/70Reducing energy consumption in communication networks in wireless communication networks

Abstract

The utility model discloses an underground personnel locating system. The system comprises a locating server, a monitoring terminal, a wired communication sub-system, wireless communication base stations, and locating devices, wherein the wired communication sub-system mainly comprises optical fibers, a light splitter and a wireless exchanger; each of the wireless communication base stations mainly comprises an explosion-proof tank, a power supply, a standby battery, a wireless access device, an antenna and the like; the wireless communication base stations are mounted at specific intervals inside an underground tunnel, and connected with the wireless exchanger and the locating server above the ground through the optical fibers; the locating devices are wirelessly communicated with the wireless communication base stations; and the system is capable of realizing the accurate locating of personnel through the locating devices carried by the underground personnel based on the field intensity distance measurement combined with the step-counting distance measurement. The locating system is high in locating precision, low in cost, simple in system equipment structure, and convenient for managements of safety production and personnel scheduling; when an accident occurs in an underground mine, relatively accurate information about positions of the personnel can be provided to rescuers, thereby increasing the rescue efficiency as well as the rescued probability of trapped personnel; and the locating system is a comprehensive system integrating the functions of work attendance checking, scheduling management, tracking and locating, post-disaster searching and rescuing, and the like, of the underground personnel.

Description

A kind of Mine Personnel Positioning System
Technical field
The utility model relates to a kind of Mine Personnel Positioning System, and this system relates to the fields such as radio communication, range finding and location technology.
Background technology
The personnel in the pit location is the important measures of safety in production.People adopt the whole bag of tricks that down-hole personnel position is detected for many years.Localization method commonly used has: acknowledge(ment) signal intensity indication (Received Signal Strength Indication, RSSI), measure and arrive angle (Angle Of Arrival, AOA), measure the time of advent (Time Of Arrival, TOA), measure and arrive time difference (Time Difference Of Arrival, TDOA) and the method such as REID (RFID, Radio Frequency Identification).
Actual use is take REID (RFID) as main at present, and RFID utilizes RF-wise to carry out the noncontact two-way communication, to reach identifying purpose and swap data.Different from other contact recognition technology, need not contact between the radio-frequency card of rfid system and read write line and just can realize automatic identification and the position monitoring under different conditions to personnel or object.Typical radio-frequency recognition system mainly comprises radio-frequency card and read write line two parts.Use RFID to have following problem:
1. positioning accuracy is limited by the read write line distribution density, can only locate by feasible region, can not accomplish that error is the accurate location of several meters;
2. limited by the RFID read or write speed, can not process many people simultaneously fast by the situation of card-reading system, be prone to skip.
Signal strength signal intensity indication (RSSI) method is the main localization method of present Zigbee and WiFi network using, and it is according to the loss model calculating mobile node of wireless signal and the distance between anchor node.The signal strength signal intensity that mobile node receives changes with the change in location of range transmission machine, be that mobile node range transmission machine distance is nearer, the signal strength signal intensity that receives is stronger, otherwise, mobile node is far away apart from transmitter, the signal strength signal intensity that receives is more weak, the RSSI localization method is to utilize this characteristic, the signal strength signal intensity that records is converted to apart from discreet value, then will compare apart from discreet value and signal strength signal intensity map, determine final positioning result through filtering again, the RSSI method is simple and easy to implement.but the loss model of wireless signal is affected by environment huge, so general RSSI navigation system often must rely on the density of increase anchor node and control position error on one direction by global optimization approach, but subsurface environment mostly is the wire environment that the tunnel forms, can't obtain the field intensity data of other direction on the plane, when so other affects the factor of transmission of wireless signals when existence as larger metal shelter etc. in the tunnel, position error is larger, so need a kind of field intensity data that do not rely on other direction, the navigation system that can locate exactly in the down-hole.
The utility model content
The utility model purpose is to provide a kind of Mine Personnel Positioning System, by location-server and WAP (wireless access point), the underground work personnel that use special-purpose positioner are realized location accurately, be convenient to production safety management personal scheduling management, and when mine generation disaster, for the rescue personnel provides personnel positions information more accurately, to improve the probability of being rescued of rescue efficiency and trapped personnel.
Described Mine Personnel Positioning System comprises: location-server, monitor terminal, wire communication subsystem, radio communication base station and positioner, it is characterized in that: the wire communication subsystem comprises optical fiber, optical splitter and wireless exchange board; Radio communication base station comprises explosion-proof tank, power supply, reserve battery, radio reception device, antenna isolator and antenna; The installation radio communication base station that keeps at a certain distance away in the down-hole, radio communication base station is by wireless exchange board and location-server on the optical fiber connecting well; Positioner is communicated by letter by wireless mode with radio communication base station; Location-server is realized personnel positioning by the positioner that the underground work personnel carry; When the close radio communication base station of positioner, field intensity is to peaking, with the current positioning datum point of this radio communication base station as positioner; Positioner has step function, but real time record is worn the step number that the positioner personnel walk behind reliable location; The look distance of positioner and current positioning datum point of the personal move that step number multiply by the personnel that wear positioner that calculate gained; The place radio communication base station field intensity of the 2 adjacent positioning datum points that detect according to positioner is calculated apart from the radio communication base station distance; Get distance and occur simultaneously the value at public part center as the distance of positioner and current positioning datum point.This system further comprises: when the close radio communication base station of positioner, field intensity is to peaking, with the position of this radio communication base station current location as positioner, simultaneously as the storage of reliable locating information record, and with the current positioning datum point of this radio communication base station as positioner.
This system further comprises: non-when reliably locating first, wear positioner personnel's direct of travel according to the previous reliable locator data judgement of recording.
This system further comprises: the field intensity variation tendency of the radio communication base station that detects according to positioner judges the direct of travel of wearing the positioner personnel.
This system further comprises: step count set is installed, the step number M of real time record walking when the personnel that wear positioner walk on positioner.
This system further comprises: record T according to the personnel in the pit's that is positioned height, by obtained these personnel's actual step size N:N=1.85 (T-132) by following formula.
This system further comprises: the distance L that obtains positioner and current positioning datum point by following formula: L=MN, in formula, M wears the step number that the personnel of positioner are walked as starting point take current positioning datum point.
This system further comprises: positioner is according to the next positioning datum point on personnel's direct of travel judgement moving direction of wearing positioner, as the value of distance L greater than the distance between current positioning datum point and next positioning datum point, illustrate that there is error in this distance value, not as the reference value;
This system further comprises: positioner detects the signal strength of current positioning datum point place radio communication base station and next positioning datum point place radio communication base station, is respectively Rd1 and Rd2.
This system further comprises: carry out distance based on field intensity and calculate, formula is as follows:
d = 10 A - Rd + X δ 10 n
In formula, A is that signal is propagated the power that 1m collects mail when far away number;
N be propagation factor also referred to as loss index, its numerical values recited depends on the communication environments of wireless signal;
Rd is the signal strength signal intensity of the radio communication base station that receives of positioner, i.e. RSSI value;
X δGaussian Profile normal random variable for zero-mean.
With Rd1 and Rd2 bring into respectively formula obtain positioner and current positioning datum point apart from d1, positioner and current positioning datum point apart from d2.
This system further comprises: according to the field intensity gained apart from d1 and d2 in conjunction with the meter step pitch from L, the distance of compute location device and current positioning datum point place radio communication base station, with all apart from the value at the public part center of the occuring simultaneously distance as positioner and current positioning datum point.
This system further comprises: with the distance of positioner to current positioning datum point place radio communication base station, the curvilinear equation in the tunnel at substitution two radio communication base station places obtains the current coordinate of positioner.
Description of drawings
Fig. 1 navigation system schematic diagram.
Fig. 2 positioner hardware schematic diagram.
Fig. 3 positioner control system structure chart.
Fig. 4 positioning step schematic diagram.
Fig. 5 personnel in the pit's direct of travel judgement principle schematic.
The distance operation schematic diagram of Fig. 6 positioner and radio communication base station.
Fig. 7 positioner current position coordinates computing schematic diagram.
Fig. 8 positioner communication flow diagram.
Embodiment
In embodiment, navigation system forms and comprises as shown in Figure 1:
Mine Personnel Positioning System comprises location-server (1), wire communication subsystem, radio communication base station (2) and positioner (3).The wire communication subsystem is the backbone network of whole navigation system, and the wire communication subsystem is take optical fiber as main transmission medium.The wire communication subsystem also comprises optical splitter, the network management devices such as wireless exchange board (5).The installation radio communication base station that keeps at a certain distance away in the down-hole, radio communication base station is by the server on the optical fiber connecting well.The radio communication base station major function is the WI-FI wireless access, and radio communication base station comprises explosion-proof tank, power supply, reserve battery, radio reception device, antenna isolator and antenna.Radio reception device is called AP (Access Point) in standard WI-FI network, be responsible for wireless terminal device access wired ethernet, by radio communication base station, the WI-FI WLAN (wireless local area network) is covered each tunnel.Each AP is assigned service set identifier SSID and different physical addresss, navigation system is according to the different radio communication base station of sign difference of AP, radio communication base station is supported the trans-regional roaming of wireless terminal device, radio communication base station is used as the positioning datum reference point when the computing of location simultaneously, the positional information of radio communication base station and identification information are stored in the storage subsystem of location-server and positioner, for the location computing provides foundation.Positioner is communicated by letter with aboveground location-server as standard WI-FI terminal equipment access WI-FI WLAN (wireless local area network).Location-server is responsible for system communication management, data storage and the information service of personnel and equipment is provided for monitor terminal.The production management personnel are by the Real Time Monitoring of monitor terminal (4) access location-server realization to underground work personnel and relevant device, monitor terminal has map and shows, location of personnel and data show inquiry, the location of personnel statistics, and historical position is followed the trail of the functions such as inquiry.Geographical information platform can use MapX mapable assembly, and the mine map is the map vector of tunnel two dimensional cross-section, and map file is the MapInfo form.
In embodiment, the hardware of positioner comprises as shown in Figure 2:
1. processor (201) is selected the MSP430F147 single-chip microcomputer of TI company, and this model is 16 risc architectures, has 32kFlash, 1kRAM; And 5 kinds of low-power consumption modes are arranged, abundant sheet inner peripheral module, the plurality of advantages such as clock system flexibly.MSP430 can work under 1.8~3.6V low-voltage, and system adopts the 3.3V operating voltage.The built-in precision of MSP430F147 is the A/D converter of 12 200kps.1 non-linear differential error, 1 non-linear integral error, 4 kinds of analog-to-digital conversion patterns.
2.WI-FI communication (204) part comprises WI-FI communication module and antenna, the employing of WI-FI communication module is encrypted networking control chip CO2128 as the product of the scheme of core take the iChip series of ConnectOne company, and inside modules comprises radio-frequency module, communication interface modules, state control and detection module, NOR FLASH memory CO2128; Antenna adopts flexible antennas.
3. motion detection circuit (202) uses the SMB380 3-axis acceleration sensor, the vibration that traditional mechanical type pedometer adopts reed or elastic force bead to detect and goes on foot generation when the people walks judges that by internal processor electronic impulse realizes the meter step, adopt this mode can't distinguish walking and other movable vibration that produces, sensitivity and accuracy are not high.Use 3-axis acceleration sensor can measure three orthogonal axles keep the Static and dynamic on absolute direction in the earth gravity scope acceleration, the signal that gathers is that digital signal is transferred to processor by the SPI interface.
4. storage (203) chip adopts 1 24C512, because described positioner has only used a storage chip, chip select address need be set, so the sheet of 24C1024 clicks the whole ground connection of pin.24C512 uses the I2C bus communication,, use two standard I/O interfaces to add and draw resistance to connect SCL and SDA pin,, realize processor and storage chip Control on Communication.
5. serial communication (205) uses the MAX232 chip rs-232 standard serial ports single supply level transferring chip of TI company, use+5v single power supply, and interface uses the SMT2.5 socket, can use transit cable to connect computer 9 needle serial ports and realize communication.
6. power circuit (206) part comprises battery, voltage transitions and battery management part; battery uses lithium-ions battery; lithium battery (group) should have anti-reverse function; have outside internal protection circuitry; have outer protective circuit is arranged; possess anti-overcharge, prevented putting, the functions such as overcurrent, short circuit, also have equalizing charge, balanced discharge function.Voltage transitions adopts the MAX1724 power supply chip
In embodiment, the system of positioner comprises as shown in Figure 3:
1. positioning subsystem (302), be responsible for gathering peripheral WI-FI access point to the signal strength of module from the WI-FI communication module, and according to the positional information of field intensity signal, access point, obtain the position of positioner in conjunction with the personnel's of wearing step-length step number computing, be uploaded to system server by communication subsystem.
2. communication subsystem (303), be responsible for the communication of equipment and system and external device, comprises the control of WI-FI radio communication, and wired serial communication is controlled.
3. acquisition subsystem (301), be responsible for the acquisition process of 3-axis acceleration sensor signal, use the acceleration signal on three directions of buffer memory, X is the value of X-direction, Y is the value of Y direction, Z is the value of Z-direction, get the axle of acceleration change amount maximum and count the step, according to the statistical measurement common people run per second be no more than 5 the step, low-speed running is not less than 1 step of per second, can be with the effective range of 0.5-5Hz as the signal in meter step, remove high-frequency noise by low-pass filtering, data characteristics with reference to other diaxon, can effectively remove the interference that other physical activity produces, realize the accurately meter step through computings such as characteristic matching.Use the method meter step not limited by the positioner wearing position, the user can be contained in oneself the optional position with positioner, as the up and down clothing pocket of packing into, is fixed on waistband or in knapsack, all can accurately counts the step.
4. storage subsystem (306) is responsible for communicating by letter between control device and storage chip, realizes storage and the read operation of data.Canned data comprises schedule information, the warning message that prestores, positional information and ambient temperature information etc.
Implementation procedure with reference to figure 4 personnel positioning is as follows:
In the positioning apparatus system initialization procedure, at first record T according to positioner user's the height of storage and obtain its actual step size N (401) by following formula:
N=1.85(T-132)
The field intensity (402) that positioner periodic monitor and each radio communication base station transmit, when the personnel in the pit carries the positioner walking near radio communication base station, field intensity is to peaking, with the position of this radio communication base station current location as positioner, navigation system obtains positioner position data (403) comparatively accurately, begins simultaneously the meter step.The step number of the positioning subsystem real time record personnel of positioner inside through walking after radio communication base station multiply by the personnel's of the positioner use of self storing individual step-length, can obtain the distance (404) of personnel and front radio communication base station; If step number is M, step-length is N, and the distance L of positioner and front radio communication base station is:
L=MN
Direction judgement (405), as shown in Figure 5, the reliable locator data judgement personnel in the pit's (504) of the last time of recording according to navigation system or positioner direct of travel, the radio communication base station of accurately locating as last time is A (501), this time accurately the radio communication base station of location is B (502), and the direct of travel that can judge personnel is to be moved to wireless base station B direction by radio communication base station A; The field intensity variation tendency of the radio communication base station that also can detect according to positioner (3) is judged direction, the field intensity of two adjacent wireless base stations detected when positioner, as the field intensity variation tendency that radio communication base station B (502) detected is to diminish gradually, and the field intensity variation tendency of radio communication base station C (503) is to become gradually large, judges that direct of travel is as being moved to radio communication base station C direction by radio communication base station B; Error judgment (406), according to the next positioning datum point on personnel's direct of travel judgement moving direction of wearing positioner, greater than the distance between current positioning datum point and next positioning datum point, illustrate that there is error in this distance value as the value of distance L, as with reference to value; Detect the signal strength value Rd1 of current positioning datum point place radio communication base station (502) and next positioning datum point place radio communication base station (503), Rd2 (407); Calculate distance (408) according to field intensity, with field intensity bring into the following formula of substitution obtain positioner and current positioning datum point place radio communication base station (502) apart from d1 and positioner and radio communication base station (503) apart from d1, d2.
d = 10 A - Rd + X δ 10 n
As shown in Figure 6, get d1, d2, three of L distance occur simultaneously public part center value as positioner with the d (409) of the distance of current positioning datum point place radio communication base station (502); To can obtain the current coordinate (410) of positioner on map apart from the curvilinear equation of tunnel on map at d substitution two radio communication base station places, as shown in Figure 7, the tunnel of establishing two radio communication base station places is respectively (x for line endpoints always 1, y 1), (x 2, y 2), will solve an equation apart from d and two point form linear equation and namely obtain positioner coordinate (x, y)
( x , y ) = y - y 1 y 2 - y 1 = x - x 1 x 2 - x 1 d = ( x - x 1 ) 2 + ( y - y 1 ) 2 x 2 ≤ x ≤ x 1
, the position computing is completed in conjunction with map vector data by location-server.
In embodiment illustrated in fig. 7, described positioner communication process example is as follows:
Described positioner is set up TCP with the system server communicating pair in client-server end mode and is connected (801), positioner is as client connected system server fixed ip address and port, system server terminal is that server side uses fixed ip address and fixed port, and up-downgoing information is transmitted based on the TCP link channel.When there is no transfer of data on link channel, positioner should send link detecting packet (803) to keep the TCP connection by per interval S (802), system begins timing, as receive that reply resolves reply content and obtain system time information, according to system time calibration detection apparatus clock (807), do not receive reply (804) after the link detecting packet sends overtime K, send again immediately link detecting bag (803); Do not receive yet that after continuously sending R time (805) reply judges that link is invalid, data receiver initiatively disconnects this connection (808) repetition TCP connection procedure (801); If TCP fails successful connection, per interval G (806) reconnects network.Parameter S, K, R, G can set according to link condition, with reference to value are: S=3min, K=30s, R=3, G=20s.

Claims (12)

1. Mine Personnel Positioning System comprises: location-server, monitor terminal, wire communication subsystem, radio communication base station and positioner, it is characterized in that: the wire communication subsystem comprises optical fiber, optical splitter and wireless exchange board; Radio communication base station comprises explosion-proof tank, power supply, reserve battery, radio reception device, antenna isolator and antenna; The installation radio communication base station that keeps at a certain distance away in the down-hole, radio communication base station is by wireless exchange board and location-server on the optical fiber connecting well; Positioner is communicated by letter by wireless mode with radio communication base station; Location-server is realized personnel positioning by the positioner that the underground work personnel carry; When the close radio communication base station of positioner, field intensity is to peaking, with the current positioning datum point of this radio communication base station as positioner; Positioner has step function, but real time record is worn the step number that the positioner personnel walk behind reliable location; The look distance of positioner and current positioning datum point of the personal move that step number multiply by the personnel that wear positioner that calculate gained; The place radio communication base station field intensity of the 2 adjacent positioning datum points that detect according to positioner is calculated apart from the radio communication base station distance; Get distance and occur simultaneously the value at public part center as the distance of positioner and current positioning datum point.
2. navigation system as claimed in claim 1, it is characterized in that: when the close radio communication base station of positioner, field intensity is to peaking, with the position of this radio communication base station current location as positioner, simultaneously as the storage of reliable locating information record, and with the current positioning datum point of this radio communication base station as positioner.
3. navigation system as claimed in claim 1 is characterized in that: non-when reliably locating first, wear positioner personnel's direct of travel according to the previous reliable locator data judgement of recording.
4. navigation system as claimed in claim 1 is characterized in that: the field intensity variation tendency of the radio communication base station that detects according to positioner judges the direct of travel of wearing the positioner personnel.
5. navigation system as claimed in claim 1, positioner has step function, it is characterized in that: step count set is installed, the step number M of real time record walking when the personnel that wear positioner walk on positioner.
6. navigation system as claimed in claim 5, is characterized in that: record T according to the personnel in the pit's that is positioned height, by obtained these personnel's actual step size N:N=1.85 (T-132) by following formula.
7. navigation system as claimed in claim 6 is characterized in that: the distance L that obtains positioner and current positioning datum point by following formula: L=MN, in formula, M wears the step number that the personnel of positioner are walked as starting point take current positioning datum point.
8. navigation system as claimed in claim 7, it is characterized in that: positioner is according to the next positioning datum point on personnel's direct of travel judgement moving direction of wearing positioner, as the value of distance L greater than the distance between current positioning datum point and next positioning datum point, illustrate that there is error in this distance value, not as the reference value;
9. navigation system as claimed in claim 1 is characterized in that: positioner detects the signal strength of current positioning datum point place radio communication base station and next positioning datum point place radio communication base station, is respectively Rd1 and Rd2.
10. navigation system as claimed in claim 9 is characterized in that: carry out distance based on field intensity and calculate, formula is as follows:
d = 10 A - Rd + X δ 10 n
In formula, A is that signal is propagated the power that 1m collects mail when far away number;
N be propagation factor also referred to as loss index, its numerical values recited depends on the communication environments of wireless signal;
Rd is the signal strength signal intensity of the radio communication base station that receives of positioner, i.e. RSSI value;
X δGaussian Profile normal random variable for zero-mean.
With Rd1 and Rd2 bring into respectively formula obtain positioner and current positioning datum point apart from d1, positioner and current positioning datum point apart from d2.
11. navigation system as claimed in claim 10, it is characterized in that: according to the field intensity gained apart from d1 and d2 in conjunction with the meter step pitch from L, the distance of compute location device and current positioning datum point place radio communication base station, with all apart from the value at the public part center of the occuring simultaneously distance as positioner and current positioning datum point.
12. navigation system as claimed in claim 1 is characterized in that: with the distance of positioner to current positioning datum point place radio communication base station, the curvilinear equation in the tunnel at substitution two radio communication base station places obtains the current coordinate of positioner.
CN2012206215200U 2012-11-19 2012-11-19 Underground personnel locating system Expired - Fee Related CN202931556U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103024663A (en) * 2012-11-19 2013-04-03 中国矿业大学(北京) Underground personnel positioning system
CN107135483A (en) * 2016-02-26 2017-09-05 日本电气株式会社 Determine method, indoor orientation method and its device of relative distance variation tendency

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103024663A (en) * 2012-11-19 2013-04-03 中国矿业大学(北京) Underground personnel positioning system
CN103024663B (en) * 2012-11-19 2015-11-25 中国矿业大学(北京) A kind of Mine Personnel Positioning System
CN107135483A (en) * 2016-02-26 2017-09-05 日本电气株式会社 Determine method, indoor orientation method and its device of relative distance variation tendency
CN107135483B (en) * 2016-02-26 2020-10-09 日本电气株式会社 Method for determining relative distance change trend, indoor positioning method and device thereof

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