CN103293513B - System and method for positioning underground coal mine staff based on RSS (received signal strength) and TOA (time of arrival) complementation - Google Patents
System and method for positioning underground coal mine staff based on RSS (received signal strength) and TOA (time of arrival) complementation Download PDFInfo
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Abstract
The invention discloses a system and a method for positioning underground coal mine staff based on RSS (received signal strength) and TOA (time of arrival) complementation, and belongs to the field of mine monitoring and communication. The direction of the staff is determined by the aid of a directional antenna, distance information of a staff positioning card reader and an identification card is detected by an RSS method with high accuracy in an area which possibly cannot be detected by a TOA method, distance information is detected in other areas by the TOA method with higher accuracy, processing delay is fixed, signals are repeatedly transmitted and received by a transmitting end and a receiving end, timing errors of timing equipment are eliminated, positioning information including identity information of the underground coal mine staff is generated and outputted, and the underground coal mine staff is accurately positioned. Under the condition of decreasing positioning equipment and positioning density, the problems that errors are large when a measured distance is long in a roadway by the RSS method and misreading is caused when the measured distance is short in the roadway by the TOA method are solved, so that the underground coal mine staff is accurately positioned.
Description
Technical field
The present invention relates to a kind of Trend of Underground Personnel Positioning System based on RSS and TOA complementation and localization method, be applied particularly to Mine Monitoring and the communications field.
Background technology
" Coal Mine Safety Supervision Bureau of country of State Administration of Quality and Technical Supervision improves the notice of coal mine downhole safety hedging " six Iarge-scale system " about construction " (total No. [2010] 146, the coal dress of safety supervision) requires that Trend of Underground Personnel Positioning System is improved in construction.Play the effect of Mine Personnel Positioning System in manpower authorization and emergency management and rescue work." answer prioritizing selection advanced technology, stable performance, product that positioning precision is high, guarantee accurately to grasp personnel in the pit's DYNAMIC DISTRIBUTION situation and getting working face personnel amount ".
RSS (Received Signal Strength) based on the range finding of signal arrival intensity and TOA (the Time of Arrival) technology based on time of arrival (toa) range finding are as basic placement technology, the measured value of RSS and TOA is utilized to calculate the propagation distance of signal respectively, should as the study hotspot of coal mine down-hole personnel location technology and developing direction.
But underground coal mine environment space is narrow and small, apart from short, have the baffle element such as air door, locomotive, tunnel inclination, tunnel rough surface etc., loss is large, unfixing, the unpredictable loss in the transmitting procedure of electromagnetic wave signal can be caused, personnel positioning card reader and personnel positioning identification card distance larger time, there will be very large range error.
On the other hand, application TOA technology carries out personnel positioning, by the impact of timer precision, when personnel positioning identification card and personnel positioning card reader close together, because the signal propagation time is over this distance less than the temporal resolution of timer, there will be the situation that cannot realize TOA and detect.
According to the actual environment of coal mine down-hole tunnel, need for RSS method in tunnel and TOA method feature separately, the principle that the propagation characteristic of combining wireless signal, error produce, set up suitable system and localization method, realize coal mine down-hole personnel and accurately locate.
Summary of the invention
The invention provides a kind of Trend of Underground Personnel Positioning System based on RSS and TOA complementation and localization method, adopt directional antenna, RSS method and TOA method are combined, may occur the surveyed area of detection case adopting RSS method to detect the range information of personnel positioning card reader and identification card in the high but TOA method of RSS precision of method, other regions adopt the high TOA method of accuracy to detect the range information of personnel positioning card reader and identification card, generate and export the locating information comprising underground coal mine staff identity information, realize coal mine down-hole personnel accurately to locate.
Below the present invention is discussed.
Based on a Trend of Underground Personnel Positioning System for RSS and TOA complementation, it is characterized in that, comprise with lower module:
Monitoring module, for the reception of locating information, display, management, scheduling, comprises monitoring host computer, upper computer software;
Transport module, for transmission, the process of information between each module, comprises essential safe type switch, essential safe type mining Ethernet, essential safe type bus;
Locating module, for coal mine down-hole personnel location, adopts directional antenna, utilizes RSS method and TOA method to detect, generate and export the locating information comprising underground coal mine staff identity information.
A kind of Trend of Underground Personnel Positioning System based on RSS and TOA complementation, it is characterized in that, described locating module comprises essential safe type personnel positioning card reader and essential safe type personnel positioning identification card further, adopts directional antenna, utilizes RSS method and TOA method to carry out coal mine down-hole personnel location;
Described essential safe type personnel positioning card reader, be arranged in coal mine down-hole tunnel, as the anchor node that personnel positioning detects, testing staff and essential safe type personnel positioning identification card position, generation export the locating information comprising underground coal mine staff identity information; Comprise power supply, signal transceiver, directional antenna, timer, arithmetic processor, memory, inbeing safe explosion prevention device further; Described directional antenna, namely carries out quorum sensing inhibitor away from well head direction to tunnel far-end;
Described essential safe type personnel positioning identification card is carried by underground coal mine staff, as the destination node that personnel positioning detects, stores the identity information of affiliated personnel; Comprise power supply, signal transceiver, omnidirectional antenna, timer, arithmetic processor, memory, inbeing safe explosion prevention device further;
The signal transceiver of described essential safe type personnel positioning card reader and essential safe type personnel positioning identification card, all there is signal transmitting, received power identification and writing function, described timer has timing and time writing function, carries out signal transmitting and receiving moment, the metering of time and record with described signal transceiver.
Based on a Trend of Underground Personnel Positioning System for RSS and TOA complementation, it is characterized in that, described locating module adopts directional antenna, utilizes RSS method and TOA method to carry out coal mine down-hole personnel location, further comprising the steps:
Step one: described essential safe type identification card sends censorship signal according to certain time interval T, and T unit is-s second, containing the underground coal mine staff identity information stored in card and signal transmission power value W in censorship signal
1, unit is milliwatt--mw;
Step 2: described essential safe type personnel positioning card reader receives censorship signal, detects censorship signal and arrives power W
2, unit is milliwatt-mw;
Step 3: described essential safe type personnel positioning card reader is according to formula
calculate, wherein r is the measured value of described essential safe type personnel positioning identification card based on RSS and described essential safe type personnel positioning card reader distance, and unit is rice-m, lg represents denary logarithm, f is the frequency of censorship signal, and unit is megahertz-MHz, G
i, G
rbe respectively the gain of described essential safe type personnel positioning identification card omnidirectional antenna, described essential safe type personnel positioning card reader directional antenna, unit is dBi; If r < is 5m, then judge that described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader distance are as r; If r>=5m, carry out further TOA detection;
Step 4: during r>=5m, carries out suppressing the TOA of TOA error to detect: set up the connection between described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader; Described essential safe type card reader sends TOA detection signal, and timer starts timing simultaneously, starts recorded time value t
1, unit is-s second; Essential safe type personnel positioning identification card receives TOA detection signal, sets up the connection with described essential safe type personnel positioning card reader, starts timing, generates answer signal S
1, reach answer signal S after setting time delay Δ t until timing
1send, terminate timing, and start to record another time value t
2, unit is-s second; Δ t is a set point, and unit is-s second; Described essential safe type personnel positioning card reader receives answer signal S
1, end time value t
1timing, recorded time value reclocking, treat the setting time delay Δ t that timing reaches identical with described essential safe type personnel positioning identification card, sends and reply answer signal S '
1; Described essential safe type personnel positioning identification card receives replys answer signal S '
1, end time value t
2timing, time value t during record
2; Described essential safe type personnel positioning identification card is by time value t
2be sent to described essential safe type personnel positioning card reader and disconnect the connection with described essential safe type personnel positioning card reader; Described essential safe type personnel positioning card reader receives time value t
2after, according to the data received, according to formula
calculate, obtain the distance r of described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader
tOA, unit is rice-m;
Step 5: described essential safe type personnel positioning card reader is according to the distance r of described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader or r
tOA, directional antenna covers sense, and generation includes the locating information of underground coal mine staff identity information and exports.
Based on a coal mine down-hole personnel localization method for RSS and TOA complementation, it is characterized in that, be applied to the Trend of Underground Personnel Positioning System based on RSS and TOA complementation, the described Trend of Underground Personnel Positioning System based on RSS and TOA complementation comprises:
Monitoring module, for the reception of locating information, display, management, scheduling, comprises monitoring host computer, upper computer software;
Transport module, for transmission, the process of information between each module, comprises essential safe type switch, essential safe type mining Ethernet, essential safe type bus;
Locating module, for coal mine down-hole personnel location, adopts directional antenna, utilizes RSS method and TOA method to detect, generate and export the locating information comprising underground coal mine staff identity information;
Described locating module comprises essential safe type personnel positioning card reader and essential safe type personnel positioning identification card further, adopts directional antenna, utilizes RSS method and TOA method to carry out coal mine down-hole personnel location;
Described essential safe type personnel positioning card reader, be arranged in coal mine down-hole tunnel, as the anchor node that personnel positioning detects, testing staff and essential safe type personnel positioning identification card position, generation export the locating information comprising underground coal mine staff identity information; Comprise power supply, signal transceiver, directional antenna, timer, arithmetic processor, memory, inbeing safe explosion prevention device further; Described directional antenna, namely carries out quorum sensing inhibitor away from well head direction to tunnel far-end;
Described essential safe type personnel positioning identification card is carried by underground coal mine staff, as the destination node that personnel positioning detects, stores the identity information of affiliated personnel; Comprise power supply, signal transceiver, omnidirectional antenna, timer, arithmetic processor, memory, inbeing safe explosion prevention device further;
In described locating module, the signal transceiver of described essential safe type personnel positioning card reader and essential safe type personnel positioning identification card, all there is signal transmitting, received power identification and writing function, described timer has timing and time writing function, carries out signal transmitting and receiving moment, the metering of time and record with described signal transceiver;
This navigation system, carry out locating based on the coal mine down-hole personnel of RSS and TOA complementation according to following steps:
Steps A. described essential safe type identification card sends censorship signal according to certain time interval T, and T unit is-s second, containing the underground coal mine staff identity information stored in card and signal transmission power value W in censorship signal
1, unit is milliwatt-mw;
Described in step B., essential safe type personnel positioning card reader receives censorship signal, detects censorship signal and arrives power W
2, unit is milliwatt-mw;
Described in step C., essential safe type personnel positioning card reader is according to formula
calculate, wherein r is the measured value of described essential safe type personnel positioning identification card based on RSS and described essential safe type personnel positioning card reader distance, and unit is rice-m, 1g represents denary logarithm, f is the frequency of censorship signal, and unit is megahertz-MHz, G
i, G
rbe respectively the gain of described essential safe type personnel positioning identification card omnidirectional antenna, described essential safe type personnel positioning card reader directional antenna, unit is dBi; If r < is 5m, then judge that described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader distance are as r; If r>=5m, carry out further TOA detection;
During step D.r>=5m, carry out suppressing the TOA of TOA error to detect, obtain the distance r of described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader
tOA, unit is rice-m;
Step e. described essential safe type personnel positioning card reader is according to the distance r of described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader or r
tOA, directional antenna covers sense, and generation includes the locating information of underground coal mine staff identity information and exports;
Step F. described transport module by described location through this module transfer to monitoring module, monitoring module receives locating information and to go forward side by side row relax, management, and this locates end.
Based on a coal mine down-hole personnel localization method for RSS and TOA complementation, it is characterized in that, the TOA of described suppression TOA error detects, further comprising the steps:
Step D1. sets up the connection between described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader; Described essential safe type card reader sends TOA detection signal, and timer starts timing simultaneously, starts recorded time value t
1, unit is-s second;
Step D2. essential safe type personnel positioning identification card receives TOA detection signal, sets up the connection with described essential safe type personnel positioning card reader, starts timing, generates answer signal S
1, reach answer signal S after setting time delay Δ t until timing
1send, terminate timing, and start to record another time value t
2, unit is-s second; Δ t is a set point, and unit is-s second;
Described in step D3., essential safe type personnel positioning card reader receives answer signal S
1, end time value t
1timing, recorded time value reclocking, treat that timing reaches setting time delay Δ t, send and reply answer signal S '
1;
Essential safe type personnel positioning identification card described in step D4. receives replys answer signal S '
1, end time value t
2timing, time value t during record
2;
Described in step D5., essential safe type personnel positioning identification card is by time value t
2be sent to described essential safe type personnel positioning card reader and disconnect the connection with described essential safe type personnel positioning card reader;
Described in step D6., essential safe type personnel positioning card reader receives time value t
2after, according to the data received, according to formula
calculate, obtain the distance r of described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader
tOA.
The invention has the advantages that:
(1) the present invention is according to the feature of RSS and TOA method, personnel positioning card reader and personnel positioning identification card distance larger time, RSS detects and there will be very large range error, on the other hand, when personnel positioning identification card and personnel positioning card reader close together, there will be the situation that cannot realize TOA and detect, a kind of Trend of Underground Personnel Positioning System of combining based on RSS and TOA and localization method are proposed, directional antenna is utilized to determine personnel direction, may occur the surveyed area of detection case adopting RSS method to detect the range information of personnel positioning card reader and identification card in the high but TOA method of RSS precision of method, other regions adopt the high TOA method of accuracy to detect the range information of personnel positioning card reader and identification card, generate and export the locating information comprising underground coal mine staff identity information, realize coal mine down-hole personnel accurately to locate, reduce the skip rate of navigation system,
(2) the present invention proposes a kind of TOA timing suppression error approach, utilizes the mode that setting process time delay, transmitting-receiving two-end multiple signal are received and dispatched, even if the timing error that the equipment of elimination exists, effectively improves the accuracy of TOA detection.
(3) the present invention proposes and a kind ofly adopt directional antenna, Trend of Underground Personnel Positioning System RSS method and TOA method combined and localization method, do not need, to increase equipment, to strengthen premised on density of equipment, to realize coal mine down-hole personnel and accurately locate.
Accompanying drawing explanation
Fig. 1 is the Trend of Underground Personnel Positioning System schematic diagram based on RSS and TOA complementation;
Fig. 2 is essential safe type personnel positioning reader device structure chart;
Fig. 3 is essential safe type personnel positioning identification card equipment structure chart;
Fig. 4 is the personnel positioning method flow diagram based on RSS and TOA complementation;
Fig. 5 is underground coal mine RSS method and TOA methodical error analysis chart;
Fig. 6 suppresses the TOA of TOA error to detect schematic diagram;
In figure, 1, watch-dog; 2, transmission network and equipment; 3, essential safe type personnel positioning card reader; 4, underground coal mine staff and essential safe type personnel positioning identification card; 5, directional antenna; 6, timer; 7, arithmetic processor; 8, memory; 9, power supply; 10, signal transceiver; 11, intrinsic safe explosion-proof shell; 12, omnidirectional antenna.
Embodiment
Following embodiment will further illustrate the present invention, and embodiment should not be regarded as limiting the scope of the invention.Below in conjunction with accompanying drawing, working method of the present invention is elaborated.
As shown in Figure 1, the Trend of Underground Personnel Positioning System schematic diagram based on RSS and TOA complementation of the present invention, comprises 1, watch-dog; 2, transmission network and equipment; 3, essential safe type personnel positioning card reader; 4, underground coal mine staff and essential safe type personnel positioning identification card; 5, directional antenna.
Watch-dog 1, i.e. monitoring module equipment, comprise monitoring host computer, monitoring software, for the reception of locating information, display, management, scheduling;
Transmission network and equipment 2, i.e. transport module equipment, for transmission, the process of information between each module, comprise essential safe type switch, essential safe type mining Ethernet, essential safe type bus;
Essential safe type personnel positioning card reader 3, underground coal mine staff and essential safe type personnel positioning identification card 4, directional antenna 5 belong to locating module, for coal mine down-hole personnel location, adopt directional antenna, utilize RSS method and TOA method to detect, generate and export the locating information comprising underground coal mine staff identity information;
Essential safe type personnel positioning card reader 3, its structure as shown in Figure 2, comprises directional antenna 5, timer 6, arithmetic processor 7, memory 8, power supply 9, signal transceiver 10, intrinsic safe explosion-proof shell 11.
Directional antenna 5, the unified direction being set to sensing tunnel, antenna set-point far-end, its quorum sensing inhibitor direction, antenna direction as shown in Figure 1, its gain is designated as G, unit is dBi, takes 2.4GHz frequency range, directional antenna that gain is 4.15dBi carries out testing and illustrating in this embodiment, need it is to be noted that, embodiment will further illustrate the present invention, and embodiment should not be regarded as limiting the scope of the invention.
Timer 6, has timing and time writing function, carries out signal transmitting and receiving moment, the metering of time and record with described signal transceiver collaborative work; This embodiment adopts Imtech FCA3000 timer to analyze, and this timer can provide the standard input passage of two 300MHz, provides
temporal resolution, namely TOA detect in provide
range accuracy, c is the light velocity, c=3 × 10
8m/s.Arithmetic processor 7, dominant frequency is not less than 300MHz, for the generation of the process to RSS and TOA data, computing and locating information, according to RSS formula be
TOA formula is
Memory, for the storage to RSS, TOA data and locating information.Power supply 9, for the power supply of essential safe type card reader.Signal transceiver 10, there is signal transmitting, received power identification and writing function, all above-mentioned functions can be realized based on technology such as WiFi, RFID, ZigBee, the present embodiment adopts BCM8000WiFi module as signal transceiver, and signal transmitting and receiving moment, the metering of time and record are carried out in described timer 6 and the collaborative work of described signal transceiver 10.Intrinsic safe explosion-proof shell 11 is explosion-protection equipments of essential safe type card reader.
Essential safe type personnel positioning identification card 4, its structure as shown in Figure 3.Timer 6, has timing and time writing function, carries out signal transmitting and receiving moment, the metering of time and record with described signal transceiver collaborative work; This embodiment adopts Imtech FCA3000 timer to analyze, and this timer can provide the standard input passage of two 300MHz, provides
temporal resolution, namely TOA detect in provide
Range accuracy, c is the light velocity, c=3 × 10
8m/s.Arithmetic processor 7, dominant frequency is not less than 300MHz, for the calculation process to related data in detection.Memory, for the storage to RSS, TOA data and locating information.Power supply 9, for the power supply of essential safe type card reader.Signal transceiver 10, there is signal transmitting, received power identification and writing function, all above-mentioned functions can be realized based on technology such as WiFi, RFID, ZigBee, the present embodiment adopts BCM8000WiFi module as signal transceiver, and signal transmitting and receiving moment, the metering of time and record are carried out in described timer 6 and the collaborative work of described signal transceiver 10.Intrinsic safe explosion-proof shell 11 is explosion-protection equipments of essential safe type card reader.Omnidirectional antenna 12, realizes the covering of signal in this tunnel, and the present embodiment employing gain is that the omnidirectional antenna of 4.15dBi carries out testing and illustrating.
Fig. 4 is the personnel positioning method flow diagram based on RSS and TOA complementation of the present invention.Specifically comprise the following steps:
Steps A. described essential safe type identification card sends censorship signal according to certain time interval T, and T unit is-s second, sends identity information and the signal transmission power value W of the underground coal mine staff of the additional storage of censorship signal
1, unit is dBm;
Described in step B., essential safe type personnel positioning card reader receives censorship signal, detects censorship signal and arrives power W
2, unit is dBm;
Described in step C., essential safe type personnel positioning card reader is according to formula
calculate, wherein r is the measured value of described essential safe type personnel positioning identification card based on RSS and described essential safe type personnel positioning card reader distance, unit is rice-m, lg represents denary logarithm, f is the frequency of censorship signal, if r < is 5m, then judge that described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader distance are as r; If r>=5m, carry out further TOA detection;
During step D.r>=5m, carry out suppressing the TOA of TOA error to detect, obtain the distance r of described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader
tOA, unit is rice-m;
Step e. described essential safe type personnel positioning card reader is according to the distance r of described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader or r
tOA, directional antenna covers sense, and generation includes the locating information of underground coal mine staff identity information and exports;
Step F. described transport module by described location through this module transfer to monitoring module, monitoring module receives locating information and to go forward side by side row relax, management, and this locates end.
Fig. 5 is underground coal mine RSS method and TOA methodical error analysis chart;
The precision of TOA method is determined by the temporal resolution detected, and the FCA3000 of the present embodiment provides
temporal resolution, TOA detect in provide
Range accuracy, therefore when the spacing of described essential safe type personnel positioning card reader and essential safe type personnel positioning identification card is less than 1m, system cannot detect the position at personnel and identification card place, namely occur undetected, Fig. 5 a is the situation that skip rate changes with TOA accuracy of detection and quorum sensing inhibitor distance, Fig. 5 b directly describes the situation that in the present embodiment, skip rate changes with signal coverage distance, when the quorum sensing inhibitor performance of essential safe type personnel positioning card reader and essential safe type personnel positioning identification card is fine, during the 400m ideal under reaching state-of-the art of coverage distance, skip rate is just low to moderate 0.0025, and according to People's Republic of China (PRC) safety in production industry standard AQ6210-2007 coal mine underground operators management system general technical specifications regulation, " skip rate must not be greater than 10
-4s ", only this item just can not meet standard-required, need to be improved localization method and system when essential safe type personnel positioning card reader and essential safe type personnel positioning identification card close together.
On the other hand, as shown in Figure 5 c, RSS method is utilized to carry out the RSS attenuation curve of range finding in tunnel, within the scope of essential safe type personnel positioning card reader and essential safe type personnel positioning identification card close together, the received power decay of signal is larger, along with distance increases, its decay tends towards stability, discrimination is not high, even if record the measuring and calculating that RSS value accurately also cannot realize distance, and loss factor is many in underground coal mine environment, impact when distance increases for RSS value accuracy of measurement also can increase gradually, that measured value produces very large deviation, make the accuracy of range finding lower, shown in Fig. 5 d, the present invention carries out RSS range finding, according to formula
calculate, contrast at attenuation curve in 5m of essential safe type personnel positioning card reader and essential safe type personnel positioning identification card distance and test result, the point demarcated in figure is test result, as can be seen from Figure, within the scope of quorum sensing inhibitor 5m, the decay of RSS value obviously, discrimination is higher, and error between test data calibration point and theoretical curve is very little.
To computing formula
explanation, due to essential safe type personnel positioning card reader and essential safe type personnel positioning identification card close together, the radiation of signal belongs to direct projection, therefore with reference to the computing formula of electromagnetic wave free-space propagation loss
L is the free space path loss of Electromagnetic Wave Propagation, and unit is dB, L=10lg (W
1)-10lg (W
2); 32.45 is intermediate value, and be a constant in formulae discovery, f is wave frequency, and unit is MHz, and the present embodiment adopts the WiFi signal of 2400MHz frequency range; R is described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader distance, and unit is m; G
i, G
rbe respectively the gain of reception antenna and transmitting antenna, unit is dBi, and the present embodiment adopts the WiFi signal frequency range that gain is 4.15dBi, transmitting-receiving frequency is 2400MHz; Due to L=10lg (W
1)-10lg (W
2), substitute into and convert, the essential safe type personnel positioning card reader based on RSS method and essential safe type personnel positioning identification card distance computing formula can be derived
Therefore, the accuracy that the present invention carries out RSS range finding in essential safe type personnel positioning card reader and essential safe type personnel positioning identification card distance within the scope of 5m is higher, and the spacing of TOA method at essential safe type personnel positioning card reader and essential safe type personnel positioning identification card can be made up less than there is undetected deficiency during 1m, eliminate described undetected situation completely.
Fig. 6 suppresses the TOA of TOA error to detect schematic diagram, suppresses the TOA of TOA error to detect concrete steps as follows, and signal transmitting and receiving moment, the metering of time and record are carried out in described timer 6 and signal transceiver 10 collaborative work, are also embodied in this step:
Step D1. sets up the connection between described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader; Described essential safe type card reader generates a detection signal by arithmetic processor and is sent by signal transceiver, and its timer starts timing simultaneously, starts recorded time value t
1;
The signal transceiver of step D2. essential safe type personnel positioning identification card receives TOA detection signal, sets up the connection with described essential safe type personnel positioning card reader, and its calculator starts timing, simultaneously its arithmetic processor and generates answer signal S
1, to reach answer signal S after setting time delay Δ t by signal transceiver until timing
1send, timer terminates timing, and starts to record another time value t
2; Δ t is a set point, and unit is-s second; Because the present embodiment adopts BCM8000WiFi module as signal transceiver, according to measured data, Δ t, generally within 0.004s, can be set to 0.005s in the present embodiment by the signal transacting time delay when occurring congested of BCM8000WiFi module;
Described in step D3., the signal transceiver of essential safe type personnel positioning card reader receives answer signal S
1, its timer end time value t
1timing, recorded time value also starts timing again, and its arithmetic processor generates and replys answer signal S ' simultaneously
1, treat the setting time delay Δ t that timing reaches identical with described essential safe type personnel positioning identification card, send and reply answer signal S '
1;
The signal transceiver of essential safe type personnel positioning identification card described in step D4. receives replys answer signal S '
1, its timer end time value t
2timing, recorded time value t
2;
Described in step D5., the arithmetic processor of essential safe type personnel positioning identification card is by time value t
2generate a data-signal be sent to described essential safe type personnel positioning card reader by signal transceiver and disconnect the connection with described essential safe type personnel positioning card reader;
Described in step D6., the signal transceiver of essential safe type personnel positioning card reader receives time value t
2after, disconnect and the connection of described essential safe type personnel positioning identification card, its arithmetic processor according to the time data of the data received and timer record, according to formula
calculate, obtain the distance r of described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader
tOA.
To formula
Be described:
Because TOA method is very high for synchronous requirement, and underground coal mine cannot adopt the synchronous method of GPS, the common method of synchronization is difficult to again satisfy the demands, need the method for measurement improving TOA to eliminate the impact of synchronous error, adopt the method in detection signal reciprocal propagation time can avoid the impact of synchronous error; On the other hand, may there is frequency shift (FS) in the crystal oscillator of timer, so-called frequency shift (FS), and refer to the crystal oscillator precision clock frequency f of timer, timer crystal oscillator frequency shifted by delta f, its unit is Hz-hertz, and frequency shift (FS) is
be e × t in a period of time t clocking internal error;
The TOA of TOA error is being suppressed to detect in schematic diagram shown in Fig. 6, e
card readerand e
identification cardrepresent the frequency shift (FS) of essential safe type personnel positioning card reader and essential safe type personnel positioning identification card respectively:
The present embodiment setting Δ t=0.005s, and in the length of tunnel, the quorum sensing inhibitor distance of directional antenna is generally no more than 500m therefore in tunnel
Therefore, in this course, for e
card reader× t
1can approximate calculation be carried out:
E
card reader× t
1≈ e
card reader× Δ t;
Therefore:
On the other hand, carry out in the wait time delay timing of Δ t at essential safe type personnel positioning identification card and essential safe type personnel positioning card reader, due to the existence of timer frequency error, wait for that the timing of time delay should be respectively: (1+e for twice
card reader) × Δ t and (1+e
identification card) × Δ t;
Therefore:
That is:
The present invention is according to the feature of RSS and TOA method, personnel positioning card reader and personnel positioning identification card distance larger time, RSS detects and there will be very large range error, on the other hand, when personnel positioning identification card and personnel positioning card reader close together, there will be the situation that cannot realize TOA and detect, a kind of Trend of Underground Personnel Positioning System of combining based on RSS and TOA and localization method are proposed, directional antenna is utilized to determine personnel direction, may occur the surveyed area of detection case adopting RSS method to detect the range information of personnel positioning card reader and identification card in the high but TOA method of RSS precision of method, other regions adopt the high TOA method of accuracy to detect the range information of personnel positioning card reader and identification card, generate and export the locating information comprising underground coal mine staff identity information, realize coal mine down-hole personnel accurately to locate, reduce the skip rate of navigation system, propose a kind of TOA timing and suppress error approach, utilize the mode that setting process time delay, transmitting-receiving two-end multiple signal are received and dispatched, even if the timing error that the equipment of elimination exists, effectively improve the accuracy that TOA detects, propose and a kind ofly adopt directional antenna, Trend of Underground Personnel Positioning System RSS method and TOA method combined and localization method, do not need, to increase equipment, to strengthen premised on density of equipment, to realize coal mine down-hole personnel and accurately locate.
It is pointed out that the above embodiment is for further illustrating the present invention, embodiment should not be regarded as limiting the scope of the invention.
Claims (3)
1. based on a Trend of Underground Personnel Positioning System for RSS and TOA complementation, it is characterized in that, comprise with lower module:
Monitoring module, for the reception of locating information, display, management, scheduling, comprises monitoring host computer, upper computer software;
Transport module, for transmission, the process of information between each module, comprises essential safe type switch, essential safe type mining Ethernet, essential safe type bus;
Locating module, for coal mine down-hole personnel location, adopts directional antenna, utilizes RSS method and TOA method to detect, generate and export the locating information comprising underground coal mine staff identity information;
Described locating module comprises essential safe type personnel positioning card reader and essential safe type personnel positioning identification card further, adopts directional antenna, utilizes RSS method and TOA method to carry out coal mine down-hole personnel location;
Described essential safe type personnel positioning card reader, be arranged in coal mine down-hole tunnel, as the anchor node that personnel positioning detects, testing staff and essential safe type personnel positioning identification card position, generation export the locating information comprising underground coal mine staff identity information; Comprise power supply, signal transceiver, directional antenna, timer, arithmetic processor, memory, inbeing safe explosion prevention device further; Described directional antenna, namely carries out quorum sensing inhibitor away from well head direction to tunnel far-end;
Described essential safe type personnel positioning identification card is carried by underground coal mine staff, as the destination node that personnel positioning detects, stores the identity information of affiliated personnel; Comprise power supply, signal transceiver, omnidirectional antenna, timer, arithmetic processor, memory, inbeing safe explosion prevention device further;
The signal transceiver of described essential safe type personnel positioning card reader and essential safe type personnel positioning identification card, all there is signal transmitting, received power identification and writing function, described timer has timing and time writing function, carries out signal transmitting and receiving moment, the metering of time and record;
Described locating module adopts directional antenna, utilizes RSS method and TOA method to carry out coal mine down-hole personnel location, further comprising the steps:
Step one: described essential safe type identification card sends censorship signal according to certain time interval T, and T unit is-s second, containing the underground coal mine staff identity information stored in card and signal transmission power value W in censorship signal
1, unit is milliwatt-mw;
Step 2: described essential safe type personnel positioning card reader receives censorship signal, detects censorship signal and arrives power W
2, unit is milliwatt-mw;
Step 3: described essential safe type personnel positioning card reader is according to formula
calculate, wherein r is the measured value of described essential safe type personnel positioning identification card based on RSS and described essential safe type personnel positioning card reader distance, and unit is rice-m, lg represents denary logarithm, f is the frequency of censorship signal, and unit is megahertz-MHz, G
i, G
rbe respectively the gain of described essential safe type personnel positioning identification card omnidirectional antenna, described essential safe type personnel positioning card reader directional antenna, unit is dBi; If r < is 5m, then judge that described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader distance are as r; If r>=5m, carry out further TOA detection;
Step 4: during r>=5m, carries out suppressing the TOA of TOA error to detect: set up the connection between described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader; Described essential safe type card reader sends TOA detection signal, and timer starts timing simultaneously, starts recorded time value t
1, unit is-s second; Essential safe type personnel positioning identification card receives TOA detection signal, sets up the connection with described essential safe type personnel positioning card reader, starts timing, generates answer signal S
1, reach answer signal S after setting time delay Δ t until timing
1send, terminate timing, and start to record another time value t
2, unit is-s second; Δ t is a set point, and unit is-s second; Described essential safe type personnel positioning card reader receives answer signal S
1, end time value t
1timing, recorded time value also starts timing again, treats the setting time delay Δ t that timing reaches identical with described essential safe type personnel positioning identification card, sends and replys answer signal S '
1; Described essential safe type personnel positioning identification card receives replys answer signal S '
1, end time value t
2timing, recorded time value t
2; Described essential safe type personnel positioning identification card is by time value t
2be sent to described essential safe type personnel positioning card reader and disconnect the connection with described essential safe type personnel positioning card reader; Described essential safe type personnel positioning card reader receives time value t
2after, according to the data received, according to formula
calculate, obtain the distance r of described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader
tOA, unit is rice-m;
Step 5: described essential safe type personnel positioning card reader is according to the distance r of described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader or r
tOA, directional antenna covers sense, and generation includes the locating information of underground coal mine staff identity information and exports.
2. based on a coal mine down-hole personnel localization method for RSS and TOA complementation, it is characterized in that, be applied to the Trend of Underground Personnel Positioning System based on RSS and TOA complementation, the described Trend of Underground Personnel Positioning System based on RSS and TOA complementation comprises:
Monitoring module, for the reception of locating information, display, management, scheduling, comprises monitoring host computer, upper computer software;
Transport module, for transmission, the process of information between each module, comprises essential safe type switch, essential safe type mining Ethernet, essential safe type bus;
Locating module, for coal mine down-hole personnel location, adopts directional antenna, utilizes RSS method and TOA method to detect, generate and export the locating information comprising underground coal mine staff identity information;
Described locating module comprises essential safe type personnel positioning card reader and essential safe type personnel positioning identification card further, adopts directional antenna, utilizes RSS method and TOA method to carry out coal mine down-hole personnel location;
Described essential safe type personnel positioning card reader, be arranged in coal mine down-hole tunnel, as the anchor node that personnel positioning detects, testing staff and essential safe type personnel positioning identification card position, generation export the locating information comprising underground coal mine staff identity information; Comprise power supply, signal transceiver, directional antenna, timer, arithmetic processor, memory, inbeing safe explosion prevention device further; Described directional antenna, namely carries out quorum sensing inhibitor away from well head direction to tunnel far-end;
Described essential safe type personnel positioning identification card is carried by underground coal mine staff, as the destination node that personnel positioning detects, stores the identity information of affiliated personnel; Comprise power supply, signal transceiver, omnidirectional antenna, timer, arithmetic processor, memory, inbeing safe explosion prevention device further;
In described locating module, the signal transceiver of described essential safe type personnel positioning card reader and essential safe type personnel positioning identification card, all there is signal transmitting, received power identification and writing function, described timer has timing and time writing function, carries out signal transmitting and receiving moment, the metering of time and record;
This navigation system, carry out locating based on the coal mine down-hole personnel of RSS and TOA complementation according to following steps:
Steps A. described essential safe type identification card sends censorship signal according to certain time interval T, and T unit is-s second, containing the underground coal mine staff identity information stored in card and signal transmission power value W in censorship signal
1, unit is milliwatt-mw
Described in step B., essential safe type personnel positioning card reader receives censorship signal, detects censorship signal and arrives power W
2, unit is milliwatt-mw;
Described in step C., essential safe type personnel positioning card reader is according to formula
calculate, wherein r is the measured value of described essential safe type personnel positioning identification card based on RSS and described essential safe type personnel positioning card reader distance, and unit is rice-m, lg represents denary logarithm, f is the frequency of censorship signal, and unit is megahertz-MHz, G
i, G
rbe respectively the gain of described essential safe type personnel positioning identification card omnidirectional antenna, described essential safe type personnel positioning card reader directional antenna, unit is dBi; If r < is 5m, then judge that described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader distance are as r; If r>=5m, carry out further TOA detection;
During step D.r>=5m, carry out suppressing the TOA of TOA error to detect, obtain the distance r of described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader
tOA, unit is rice-m;
Step e. described essential safe type personnel positioning card reader is according to the distance r of described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader or r
tOA, directional antenna covers sense, and generation includes the locating information of underground coal mine staff identity information and exports;
Step F. described transport module by described location through this module transfer to monitoring module, monitoring module receives locating information and to go forward side by side row relax, management, and this locates end.
3. a kind of coal mine down-hole personnel localization method based on RSS and TOA complementation according to claim 2, is characterized in that, the TOA of described suppression TOA error detects, further comprising the steps:
Step D1. sets up the connection between described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader; Described essential safe type card reader sends TOA detection signal, and timer starts timing simultaneously, starts recorded time value t
1, unit is-s second;
Step D2. essential safe type personnel positioning identification card receives TOA detection signal, sets up the connection with described essential safe type personnel positioning card reader, starts timing, generates answer signal S
1, reach answer signal S after setting time delay Δ t until timing
1send, terminate timing, and start to record another time value t
2, unit is-s second; Δ t is a set point, and unit is-s second;
Described in step D3., essential safe type personnel positioning card reader receives answer signal S
1, end time value t
1timing, recorded time value also starts timing again, treats that timing reaches setting time delay Δ t, sends and reply answer signal S '
1;
Essential safe type personnel positioning identification card described in step D4. receives replys answer signal S '
1, end time value t
2timing, recorded time value t
2;
Described in step D5., essential safe type personnel positioning identification card is by time value t
2be sent to described essential safe type personnel positioning card reader and disconnect the connection with described essential safe type personnel positioning card reader;
Described in step D6., essential safe type personnel positioning card reader receives time value t
2after, according to the data received, according to formula
calculate, obtain the distance r of described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader
tOA.
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