CN205373721U - Three -dimensional dynamic positioning system in underground cable type space - Google Patents
Three -dimensional dynamic positioning system in underground cable type space Download PDFInfo
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- CN205373721U CN205373721U CN201521118662.5U CN201521118662U CN205373721U CN 205373721 U CN205373721 U CN 205373721U CN 201521118662 U CN201521118662 U CN 201521118662U CN 205373721 U CN205373721 U CN 205373721U
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Abstract
The utility model belongs to the technical field of remove wireless communication data transmission (thing antithetical couplet) and specifically relates to three -dimensional dynamic positioning system in underground cable type space, its characterized in that: the system includes radio -frequency identification label, radio frequency identification read write line, gyroscope, accelerometer and data signal treater at least, radio -frequency identification label fixes in underground cable type space, the radio frequency identification read write line with constitute radio communication data transmission between the radio -frequency identification label, the gyroscope with accelerometer measures respectively the dislocation state of radio frequency identification read write line, the data signal treater reads and handles the radio frequency identification read write line the gyroscope with accelerometer's data signal. The utility model has the advantages that: can reduce underground cable type space mobile location's cost in a large number, reduce work load, improve work efficiency, be applicable to underground cable type spaces such as subway, tunnel, tunnel, be particularly useful for the subway shield and construct intervally.
Description
Technical field
This utility model relates to mobile radio communication data transmission (Internet of Things) field, especially underground line style space three-dimensional dynamic positioning system.
Background technology
In recent years, the location requirement of the underground space is got more and more by social production life, for subway, after entering operation stage, along with being continuously increased of periphery earth's surface engineering activity, underground structure is produced impact, structure of the subway disease can be produced time serious, even affect subway normal operation.Attendant is after entering the underground space, it tends to be difficult to position the geographical coordinates that current place underground position is corresponding, it is impossible to carry out specific aim process.
Being accurately positioned of underground position, quick-reaction capability and the maintenance levels improving subway Support department's reply burst accident or natural disaster is particularly important；Workman in mine is positioned tracking, safety in production and downhole rescuing are all played an important role.
Traditional location technology is based primarily upon GPS location, cannot obtain gps signal, therefore cannot apply in the underground space, in addition, also has the location technologies such as infrared ray, ultrasound wave, bluetooth and RF identification (RFID).
Wherein RFID technique utilizes RF-wise to carry out noncontact two-way communication, to reach automatically identify destination object and obtain related data, have accommodative ability of environment strong, anti-interference strong, swift to operate, expense is low, and many advantages such as multiple labels can be identified simultaneously, application in the linear spatial of underground is very general, but the common distance of reaction of the RFID tag of routine is at 1-2m, and ultrahigh-frequency tag can reach more than 10m.
Traditional application process is, tunnel is arranged reader, personnel carry with passive label or are fixed on safety helmet, position, realize in this way positioning accurately in the tunnel of this kind of distance of subway, substantial amounts of reader need to be arranged, also need that each reader is connected to cloud server and carry out data exchange.
Summary of the invention
The purpose of this utility model is according to above-mentioned the deficiencies in the prior art, provide underground line style space three-dimensional dynamic positioning system, using RFID tag as location reference point, underground linear spatial is arranged with a determining deviation, the storage of each RFID tag represents the data of its position coordinates, the Three-Dimensional Dynamic location of clear band between RFID tag is realized again through the gyroscope of mobile equipment and accelerometer, and process is constantly calibrated location by RFID tag, it is achieved the three-dimensional dynamic location of underground line style.
This utility model purpose realizes being completed by techniques below scheme:
A kind of underground line style space three-dimensional dynamic positioning system, it is characterized in that: described system at least includes RFID tag, radio-frequency identification reader/writer, gyroscope, accelerometer and data signal processor, described RFID tag is fixed in the linear spatial of underground, wireless data transmission is constituted between described radio-frequency identification reader/writer and described RFID tag, the mobile status of described radio-frequency identification reader/writer measured respectively by described gyroscope and described accelerometer, described data signal processor reads and processes described radio-frequency identification reader/writer, the data signal of described gyroscope and described accelerometer.
RFID tag, as location reference point, is fixed on underground linear spatial, and each RFID tag all stores its three dimensional space coordinate and the identification information of underground linear spatial.
Radio-frequency identification reader/writer receives and reads the distance and bearing angle between radio-frequency identification reader/writer corresponding thereto of the coordinate information of RFID tag in coverage.
Described system also includes navigation calculator, and described navigation calculator receives the data signal of described radio-frequency identification reader/writer, described gyroscope and described accelerometer and carries out real-time coordinates calculating.
Described radio-frequency identification reader/writer, described gyroscope and described accelerometer are all built in a mobile terminal.
Described system also includes mapping module, this mapping module is for explicitly descending the ground G IS map that linear spatial is corresponding, for showing dynamic position in real time, this dynamic position refers to radio-frequency identification reader/writer position in the linear spatial of underground, is simultaneously corresponding to hold the position of the personnel of this radio-frequency identification reader/writer.
The utility model has the advantages that: the cost of underground linear spatial running fix can be reduced in a large number, reduce workload, improve work efficiency, it is adaptable to the underground linear spatial such as subway, tunnel, tunnel, be particularly suited for metro shield interval.
Accompanying drawing explanation
Fig. 1 is system architecture diagram of the present utility model；
Fig. 2 is method flow diagram of the present utility model；
Fig. 3 is the layout scattergram of RFID tag in this utility model；
Fig. 4 is that positioning principle of the present utility model calculates schematic diagram one；
Fig. 5 is that positioning principle of the present utility model calculates schematic diagram two.
Detailed description of the invention
This utility model feature and other correlated characteristic are described in further detail by embodiment below in conjunction with accompanying drawing, in order to the understanding of technical staff of the same trade:
As Figure 1-5, number in the figure 1-2 is expressed as: underground linear spatial 1, RFID tag 2.
Embodiment: as shown in Figure 1, in the present embodiment, line style space three-dimensional dynamic positioning system in underground includes RFID tag (RFID tag), radio-frequency identification reader/writer (rfid interrogator), accelerometer, gyroscope, wherein RFID tag 2 is uniformly laid in underground linear spatial 1, as it is shown on figure 3, each RFID tag 2 internal memory contains its space coordinates XYZ in underground linear spatial 1 and a globally unique linear spatial identification information.
As shown in Figure 1, radio-frequency identification reader/writer, accelerometer and gyroscope are all built in three-dimensional dynamic positioning equipment (mobile terminal), wherein radio-frequency identification reader/writer is for constituting wireless data transmission with the RFID tag 2 being laid in underground linear spatial 1, transmission between the two is limited to distance between the two, and namely radio-frequency identification reader/writer only reads the information of the RFID tag 2 in its coverage.
Accelerometer is for measuring azimuth and the motion direction at three-dimensional dynamic positioning equipment place；Gyroscope is used for measuring the translational acceleration of three-dimensional dynamic positioning equipment, and through twice pair of time integral, it is possible to calculate three-dimensional dynamic positioning equipment air line distance of movement in underground linear spatial 1.
As shown in Figure 1, three-dimensional dynamic positioning equipment (mobile terminal) is also built-in with data signal processing module, navigation computing module and mapping module, wherein data signal processing module is for reading and process the data signal of described radio-frequency identification reader/writer, i.e. stored three-dimensional coordinate in reading rfid tags, calculates the distance and bearing angle between radio-frequency identification reader/writer and the reading rfid tags sensed simultaneously.Meanwhile, data signal processing module also processes the data signal of accelerometer and gyroscope.
Navigation computing module is to coordinate the information of integrating radio frequency identification label, gyroscope and accelerometer to carry out the module of real-time coordinates calculating, namely can calculate the position in the linear spatial of underground of the three-dimensional dynamic positioning equipment containing radio-frequency identification reader/writer.Mapping module is for explicitly descending the ground map that linear spatial is corresponding, the computed real-time coordinates obtained of navigation computing module, three-dimensional dynamic positioning equipment dynamic position in the linear spatial of underground can be shown on the map of bottom surface in real time, make the personnel holding three-dimensional dynamic positioning equipment can understand its residing dynamic position in the linear spatial of underground in real time.
As in figure 2 it is shown, the present embodiment comprises the following steps when specifically used:
1) as it is shown on figure 3, bury the RFID tag with coordinate information underground with a determining deviation in underground linear spatial 1.Each RFID tag 2 all includes its space coordinates XYZ and the identification information of underground linear spatial.
2) in the mapping module of three-dimensional dynamic positioning equipment (mobile terminal), import the map of underground linear spatial.
3) carry three-dimensional dynamic positioning equipment (mobile terminal) and enter underground linear spatial, be now built in radio-frequency identification reader/writer in three-dimensional dynamic positioning equipment and move in the linear spatial of underground along with carrier.At radio-frequency identification reader/writer in moving process, when it is when coverage internal induction to RFID tag, radio-frequency identification reader/writer gets the coordinate contained by this RFID tag, senses the distance L between itself and RFID tag and azimuth simultaneouslyAnd the elevation angle。
4) Primary Location is carried out by the coordinate information of this RFID tag, and according to above-mentioned distance L, azimuthAnd the elevation angleCorrect current three-dimensional dynamic positioning equipment coordinate position in the linear spatial of underground, and by being shown in previous the imported map of mapping module.
The coordinate position of three-dimensional dynamic positioning equipment can pass through following formula (1) and be calculated:
(1)
As shown in Figure 4, (x1、y1、z1) for the current coordinate position of three-dimensional dynamic positioning equipment, (x0、y0、z0) for the coordinate of RFID tag, L is the distance between three-dimensional dynamic positioning equipment and RFID tag,For azimuth,For the elevation angle.
5) and along with movement, the distance between three-dimensional dynamic positioning equipment and RFID tag containing radio-frequency identification reader/writer exceedes when effectively reading distance, activates the built-in gyroscope of three-dimensional dynamic positioning equipment and acceleration transducer.
6) gyroscope obtains direction of travel, and the quadratic integral in acceleration transducer elapsed time obtains travel distance, willAngle according to direction of travel Yu axis、Project on the axis of underground linear spatial, it is thus achieved that current three-dimensional dynamic positioning equipment coordinate position in the linear spatial of underground, be shown in the map that mapping module had previously imported.
Now, the coordinate position of three-dimensional dynamic positioning equipment can be calculated by following formula (2):
(2)
As it is shown in figure 5, wherein (x2、y2、z2) for the current coordinate position of three-dimensional dynamic positioning equipment, (x1、y1、z1) for three-dimensional dynamic positioning equipment through the computed coordinate position obtained of a upper RFID tag, L2For displacement,、Respectively by L2The horizontal sextant angle of direction of travel and axis and vertical angle.
7) after three-dimensional dynamic positioning equipment is along with the mobile coverage being again introduced into next RFID tag sensing, again through above-mentioned steps 3), 4) position correction, so that it is determined that the exact position that three-dimensional dynamic positioning equipment is presently in.
8) step 5) is repeated to 7), it is achieved the Three-Dimensional Dynamic at underground linear spatial positions.
That is, alignment system in the present embodiment is as location reference point using RFID tag, underground linear spatial is arranged with a determining deviation, the storage of each RFID tag represents the data of its position coordinates, the Three-Dimensional Dynamic location of clear band between label is realized again through the gyroscope of three-dimensional dynamic positioning equipment and accelerometer, constantly it is calibrated location during the course again by RFID tag, it is ensured that the dynamically accuracy of location simultaneously.
The present embodiment is in the specific implementation: in actual applications, for instance metro shield is interval, in addition it is also necessary to determine three-dimensional dynamic positioning equipment position plane coordinate on axis, it is possible to calculated by formula (3):
(3)
Wherein, (x2 ’、y2 ’、z2 ’) for three-dimensional dynamic positioning equipment position plane coordinate on axis, (x1、y1、z1) for three-dimensional dynamic positioning equipment through the computed coordinate position obtained of a upper RFID tag, L2For displacement,、Respectively by L2The horizontal sextant angle of direction of travel and axis and vertical angle.
Data signal processing module is according to demand, it is possible to after calculating, these real time datas are shown three-dimensional dynamic positioning equipment movement locus in the linear spatial of underground, and is shown in real time on the map of underground linear spatial.
Distance between RFID tag is determined according to implementation cost, is typically about 100-200m.RFID tag can select the high-frequency radio frequency identification label of communication distance 1-4m.In order to ensure the accuracy of dynamically location, RFID tag must be laid in the turning of underground linear spatial, broken line, intersection, and visually descend the situation of linear spatial in linear section and need setting space, generally optional 100-500m.
Claims (3)
1. a underground line style space three-dimensional dynamic positioning system, it is characterized in that: described system at least includes RFID tag, radio-frequency identification reader/writer, gyroscope, accelerometer and data signal processor, described RFID tag is fixed in the linear spatial of underground, wireless data transmission is constituted between described radio-frequency identification reader/writer and described RFID tag, the mobile status of described radio-frequency identification reader/writer measured respectively by described gyroscope and described accelerometer, described data signal processor reads and processes described radio-frequency identification reader/writer, the data signal of described gyroscope and described accelerometer.
2. a kind of underground according to claim 1 line style space three-dimensional dynamic positioning system, it is characterized in that: described system also includes navigation calculator, described navigation calculator receives the data signal of described radio-frequency identification reader/writer, described gyroscope and described accelerometer and carries out real-time coordinates calculating.
3. a kind of underground according to claim 1 line style space three-dimensional dynamic positioning system, it is characterised in that: described radio-frequency identification reader/writer, described gyroscope and described accelerometer are all built in a mobile terminal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201521118662.5U CN205373721U (en) | 2015-12-30 | 2015-12-30 | Three -dimensional dynamic positioning system in underground cable type space |
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| CN201521118662.5U CN205373721U (en) | 2015-12-30 | 2015-12-30 | Three -dimensional dynamic positioning system in underground cable type space |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106228474A (en) * | 2016-09-09 | 2016-12-14 | 华中科技大学 | A kind of construction safety managing and control system based on three-dimensional localization and BIM and method |
| CN106223966A (en) * | 2016-09-07 | 2016-12-14 | 中南大学 | There is duct piece assembling machine spatial attitude measurement apparatus and the shield machine of inertial sensor |
| CN110087183A (en) * | 2019-04-26 | 2019-08-02 | 福建科立讯通信有限公司 | A kind of intercom indoor orientation method based on acceleration transducer and RFID |
-
2015
- 2015-12-30 CN CN201521118662.5U patent/CN205373721U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106223966A (en) * | 2016-09-07 | 2016-12-14 | 中南大学 | There is duct piece assembling machine spatial attitude measurement apparatus and the shield machine of inertial sensor |
| CN106228474A (en) * | 2016-09-09 | 2016-12-14 | 华中科技大学 | A kind of construction safety managing and control system based on three-dimensional localization and BIM and method |
| CN110087183A (en) * | 2019-04-26 | 2019-08-02 | 福建科立讯通信有限公司 | A kind of intercom indoor orientation method based on acceleration transducer and RFID |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160706 Termination date: 20191230 |
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| CF01 | Termination of patent right due to non-payment of annual fee |