CN109362033A - A kind of mining base station positioning system and localization method - Google Patents
A kind of mining base station positioning system and localization method Download PDFInfo
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- CN109362033A CN109362033A CN201811596927.0A CN201811596927A CN109362033A CN 109362033 A CN109362033 A CN 109362033A CN 201811596927 A CN201811596927 A CN 201811596927A CN 109362033 A CN109362033 A CN 109362033A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W8/00—Network data management
- H04W8/005—Discovery of network devices, e.g. terminals
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- Databases & Information Systems (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of mining base station positioning system and localization methods, system includes location client end, location-server, positioning master station, positioning substation, positioning antenna and positioning cards, location client end is used for the information to the current positioning cards of present customers, location-server is used to parse the location data from each positioning master station, each positioning master station and positioning substation are connected separately with two positioning antennas, each positioning master station is opposite should multiple positioning substations, it is sequentially connected between each positioning substation, positioning cards are connect with positioning antenna wireless.Localization method includes: that positioning cards carry out locating base station search；Positioning cards application carries out ranging to locating base station；Locating base station carries out storage filling and processing to the positioning cards information received；Location-server parses the Ethernet location data from positioning master station；Location client end is to information such as the position of the current positioning cards of present customers, speed and configurations.The present invention realizes high accuracy positioning when high-speed cruising.
Description
Technical field
The present invention relates to intelligent locating methods, more particularly to a kind of mining base station positioning system and localization method.
Background technique
The current main implementation method of coal mine placement technology is: RFID, field strength, TOF (flight time), TDOF (flight
Time difference) and other implementations, existing TOF, TDOF are accurately positioned measured data system and are primarily present problem currently on the market:
1, single base station coverage distance is close
TOF and TDOF of the underground coal mine due to the factors such as tunnel ring change border is poor, blocks in tradition setting are accurately fixed
In the scheme of the position base station base station Cai Youduo covering ability ranging localization.It is equally good that single base station coverage distance can closely make so again
Location requirement number of devices can sharply increase.
2, clock synchronization accuracy requires high
Especially in TDOF reaching time-difference locating scheme, coordinate just can be carried out due to needing more base station datas to calculate simultaneously
Positioning is so need very high clock synchronization accuracy.Clock synchronization discrepancy 1nS is calculated according to electromagnetic wave propagation speed in ranging
Error just has 30 centimetres of error.
3, the card capacity of the synchronous positioning of single base station is small
It requires to carry out ranging since base station carries out positioning to positioning cards, and generic way is to multiple locating base stations
Ranging just can be carried out positioning.It needs just to be able to achieve positioning to the multiple ranging in multiple base stations so carrying out positioning to a positioning card.
The way that multiple ranging is averaged is generally employed in order to improve positioning accuracy simultaneously, in this way due to the exclusive characteristic of wireless channel
Will cause single locating base station and refresh the card data of positioning within the unit time greatly to reduce.
Summary of the invention
Goal of the invention: to solve the deficiencies in the prior art, a kind of mining locating base station positioning system and localization method are provided.
Technical solution: for achieving the above object, the invention adopts the following technical scheme:
A kind of mining base station positioning system, including location client end, location-server, positioning master station, positioning substation, positioning
Antenna and positioning cards, wherein positioning master station at least two, each positioning master station correspond to multiple positioning substations；Wherein, it positions
Client is used for the information to the current positioning cards of present customers, and location-server is used to parse the positioning from each positioning master station
Data, each positioning master station and positioning substation are connected separately with two positioning antennas, and each positioning master station is corresponding multiple fixed
Seat is sequentially connected between station, is then connected again with corresponding positioning master station, and positioning cards have multiple, each positioning cards and fixed
Position antenna wireless connection.
Optionally, positioning antenna is direction and location antenna.
The present invention also provides a kind of mining base station localization methods, comprising the following steps:
(1) positioning cards carry out detection search to locating base station by way of wireless channel energy scan；
(2) positioning cards carry out ranging to locating base station by sending wireless data application to the antenna of locating base station, and
It waits and agrees to or refuse；
(3) locating base station carries out storage filling and processing to the positioning cards information received, and is given by logic judgment
Out card locating base station left or right side and calculate actual range；
(4) location-server parses the Ethernet location data from positioning master station；
(5) location client end is to the position of the current positioning cards of present customers, speed and configuration information.
Further, step (1) the following steps are included:
(11) positioning cards wake up primary according to the period every five seconds of agreement, and positioning cards of every wake-up are determined first
Position base station search, support are simultaneously scanned for 5 locating base stations；
(12) if continuing to exceed 5 times after positioning cards wake up all without scanning to locating base station, wake-up period into
Enter to wake up for every 20 seconds primary；Unless acceleration transducer acute variation or scanning to be restored to 5 seconds after locating base station again and calling out
The awake period.
Further, step (2) specifically:
Positioning cards send broadcast message to designated channel, and locating base station is determined after receiving broadcast message to positioning cards reply
Position base station ID number information, positioning cards receive return information, then complete to scan；
Positioning cards compare the best locating base station application of selection link according to the signal strength of return information, by difference
Ranging thinks identical if gap is less than 15；
Locating base station agrees to positioning cards ranging, and the period for agreeing to ranging and next ranging is replied to positioning cards；
Positioning cards start ranging, by the flight time of detected wireless signals, then carry out ranging multiplied by the light velocity；Positioning
Ranging is replied to positioning cards in base station；
Positioning cards upload ranging information to locating base station, and then locating base station is uploaded to location-server.
Further, positioning cards, which are used, carries out ranging to locating base station based on TWR round trip telemetry, specifically:
Locating base station initiates ranging application to positioning cards, and positioning cards are surveyed after receiving application to locating base station reply
Away from the actual range of locating base station to positioning cards are as follows:
Wherein, dABFor the actual range of locating base station to positioning cards, C is the light velocity, TAIt initiates for locating base station to reception
To the time of signal, TBSignal is received to the time for issuing signal for positioning cards.
Further, step (3) the following steps are included:
(31) when the data cached information of the antenna of the left and right of positioning cards two all expires, locating base station passes through judgement positioning
The signal strength of card judges the directions of positioning cards；Use the range data for having determined that direction side as fixed simultaneously
The distance of position card reports positioning cards information；If locating base station judges that direction, the signal strength difference of two cachings are small
In 15, then positioning cards direction cannot be judged by positioning cards signal strength, abandons this information reporting；
(32) when the one of data of data cached information of positioning cards or so antenna have been filled with and another
It does not fill up, then judges positioning cards in the side having been filled with；Simultaneously using the distance number for having determined that direction side
Positioning cards information is reported according to the distance as positioning cards；
(33) when the data cached information of positioning cards or so antenna is not all filled up, then judge whether some direction connects
Continue and has carried out two frame data；If it is positioning cards are judged in the direction for continuously carrying out data, while use has determined that direction
The range data of side reports positioning cards information as the distance of positioning cards；Otherwise this information reporting is abandoned；
(34) if locating base station receives for the first time changes positioning cards information, a sub-region is directly reported to enter information.
Further, location-server is reported according to positioning master station in step (4) affiliated locating base station, positioning card direction
And range information, and carried out being inserted into actual geographical location according to pre-set map；Specifically:
(41) location-server is received by the TCP server port of creation from scheduled 10000 port
TCP data；TCP data is put into the data buffer storage of locating base station first after receiving data and is sent a message at data
Lineation journey；
(42) data processing threads receive message and start to parse data, first parsing No. HID of base station and with
Be placed on map in advance No. HID is compared whether have consistent, receives positioning cards information if there is then locking and works as
Preceding base station；
(43) direction definition and range information that card in information is parsed after locking current base station, the icon of card is placed
To the equal proportion position calculated according to map pixel.
The utility model has the advantages that compared with prior art, the method for the present invention has the advantage that
1, identical environmental positioning base station number is few；
2, when being not necessarily to real-time high-precision school；
3, the real-time positioning cards capacity of single base station is not less than 100；
4, wearer is realized not move for a long time and report abnormal function；
5, high accuracy positioning when high-speed cruising is realized；
When positioning cards high-speed motion, due to the positioning distance measuring period is longer.It is discontinuous for causing location data
, thus positioning be a point jump rather than a coherent positioning.But due to joined acceleration transducer just
A coherent locator value can be simulated to allow host computer by the upload of acceleration value.
Detailed description of the invention
Fig. 1 is present system composition schematic diagram；
Fig. 2 is the method for the present invention flow chart；
Fig. 3 is card ranging flow chart in the present invention；
Fig. 4 is distance measuring method schematic diagram of the present invention；
Fig. 5 is direction process flow diagram in the present invention.
Specific embodiment
Technical solution of the present invention is described in detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, a kind of mining base station positioning system of the present embodiment, which is to be applied to each pick of below ground
Into vehicle, the personnel's Precise Position System in tunnel, including location client end, location-server, positioning master station, positioning substation,
Position the equipment such as antenna and positioning cards, location client end be used for the position of the current positioning cards of present customers, speed and
The information such as configuration, location-server is for parsing the Ethernet location data from positioning master station；Positioning master station is used for positioning
Server forwarding positions antenna to the machine from the location data and CAN2 interface of the positioning substation that CAN1 interface arrives
Location data to location-server, and the positioning cards data received by CAN2 judge positioning card according to internal logic
The direction distance of piece is reported to location-server.Positioning substation is for extending positioning signal coverage area by CAN twisted pair
Inexpensive base station, and by CAN2 interface from the machine position antenna positioning cards data judge according to internal logic
The direction distance of positioning cards is reported to positioning master station out.Positioning antenna is primarily used to receive locating base station (locating base station packet
Include positioning master station and position substation) CAN configuration information and configuration information is configured to the wireless module of antenna, and receive positioning
The distance measurement request of card carries out signal covering.The equipment or personnel that positioning cards are mainly used to that needs is allowed to position is worn, into
And the position of equipment or personnel is judged to the ranging of positioning antenna by positioning cards.
Wherein, positioning master station includes two, respectively positioning master station 1 and positioning master station 2, and two positioning master stations are respectively and fixed
Position server connection, each positioning master station correspond to N number of positioning substation, respectively positioning substation 1, positioning substation 2 ... position substation
N, each positioning master station and each positioning substation pass through respectively CAN2 bus connect there are two position antenna, N number of positioning substation it
Between be sequentially connected with by CAN bus, then connected with corresponding positioning master station by CAN1 bus again；Positioning cards have it is multiple,
Each positioning cards can be connect with antenna by wireless communication.
Positioning antenna realizes signal covering than previous omnidirectional antenna alternate covering by the way of direction and location antenna
The method of positioning improves the coverage distance of single locating base station.(locating base station includes positioning master station and determines each locating base station
Seat station) distinguish external and has controlled two direction and location antennas, it is respectively intended to two kinds of one-dimensional roadway locations of reception and is distributed in positioning
Positioning cards data at left and right sides of base station.
As shown in Fig. 2, a kind of mining base station localization method in the present embodiment, comprising the following steps:
(1) positioning cards carry out locating base station search
Positioning cards send broadcast message to designated channel, and locating base station is believed after receiving broadcast message to positioning cards reply
Breath, it is scanning search process that positioning cards, which receive return information, by the ID number, the positioning that scan available locating base station
The information such as the type of base station.
(11) positioning cards wake up primary according to the period every five seconds of agreement, and positioning cards of every wake-up are determined first
Position base station search, could support up and simultaneously scan for 5 locating base stations；
(12) if continuing to exceed 5 times after positioning cards wake up all without scanning to locating base station, wake-up period into
Enter to wake up for every 20 seconds primary.(acceleration transducer is arranged in the positioning cards) acute variation or again unless acceleration transducer
5 seconds periods waken up are restored to after secondary scanning to locating base station.
(2) positioning cards application carries out ranging to locating base station
Positioning cards carry out signal strength sequence to locating base station, and only 1 best to signal carries out application ranging.If
Can not judge signal superiority and inferiority then simultaneously to can not resoluting signal locating base station carry out ranging.As shown in figure 3, specifically include with
Lower step:
Positioning cards send broadcast message to designated channel, and locating base station is determined after receiving broadcast message to positioning cards reply
Position base station ID number information, positioning cards receive return information, then complete to scan；
Positioning cards compare the best locating base station application of selection link according to the signal strength of return information, by difference
Ranging thinks identical if gap is less than 15；
Locating base station agrees to positioning cards ranging, and the period for agreeing to ranging and next ranging is replied to positioning cards；
Positioning cards start ranging, by the flight time of detected wireless signals, then carry out ranging multiplied by the light velocity；Positioning
Ranging is replied to positioning cards in base station；
Positioning cards upload ranging information to locating base station, and then locating base station is uploaded to location-server.
Ranging is carried out to locating base station based on TWR round trip telemetry as Fig. 4 positioning cards use, specifically:
Locating base station initiates ranging application to positioning cards, and positioning cards are surveyed after receiving application to locating base station reply
Away from the actual range of locating base station to positioning cards are as follows:
Wherein, dABFor the actual range of locating base station to positioning cards, C is the light velocity, TAIt initiates for locating base station to reception
To the time of signal, TBSignal is received to the time for issuing signal for positioning cards.
(3) locating base station carries out storage filling and processing to the positioning cards information received
Locating base station for left and right two direction and location antennas respectively received positioning cards information be divided into two cache into
Row storage filling.And same positioning cards are established with the data buffer storage of two 5 grades of left and right, it at most remains nearest 5 times
Ranging data.For being used to carry out smothing filtering.
Locating base station receives the positioning cards data from direction and location antenna every time, according to the left and right of positioning cards information
Antenna source direction is filled data buffer storage.Check whether current positioning cards or so antenna caching has after the completion of filling
Data, and logic judgment direction or abandon reported data according to response.As shown in figure 5, specifically includes the following steps:
(31) when the data cached information in the left and right of positioning cards two all expires, locating base station is by judging positioning cards
Signal strength judges the directions of positioning cards.Use the range data for having determined that direction side as positioning cards simultaneously
Distance report positioning cards information.It is abandoned if it cannot judge positioning cards direction by positioning cards signal strength
This information reporting.Judged by the software program in locating base station.
(32) when the one of data of the data cached information of positioning cards or so have been filled with and another is not filled out
It is full, then judge positioning cards in the side having been filled with.Use simultaneously have determined that the range data of direction side as
The distance of positioning cards reports positioning cards information.
(33) when the data cached information of positioning cards or so is not all filled up, then judge whether some direction is continuously come
Two frame data.If it is positioning cards are judged in the direction for continuously carrying out data, while using having determined that direction side
Range data reports positioning cards information as the distance of positioning cards.Otherwise this information reporting is abandoned.
(34) if locating base station receives for the first time changes positioning cards information, a sub-region is directly reported to enter information
(directionless, without distance).
(4) location-server parses the Ethernet location data from positioning master station
Affiliated locating base station, positioning card direction and the range information that location-server is reported according to positioning master station, and according to
Pre-set map carries out being inserted into actual geographical location.Specifically:
(41) location-server is received by the TCP server port of creation from scheduled 10000 port
TCP data；TCP data is put into the data buffer storage of locating base station first after receiving data and is sent a message at data
Lineation journey；
(42) data processing threads receive message and start to parse data, first parsing No. HID of base station and with
Be placed on map in advance No. HID is compared whether have consistent, receives positioning cards information if there is then locking and works as
Preceding base station；
(43) direction definition and range information that card in information is parsed after locking current base station, the icon of card is placed
To the equal proportion position calculated according to map pixel.
(5) information such as position, speed and the configuration of the current positioning cards of present customers are thought at location client end
It is labeled the physical location of card according to actual draw by GIS map, similar we commonly navigate day
Display.
In order to solve the problems, such as that single locating base station coverage distance is close, the communication mechanism that this programme uses directional aerial is same
The internal algorithm of Shi Peihe locating base station realizes the judgement that single locating base station individual antenna judges direction and position.Than normal
Omnidirectional antenna and 200 meters of coverage distances of more locating base stations covering have been increased to 600 meters of coverage distance.
Card capacity in order to solve the problems, such as single locating base station while positioning is small, and this programme uses (1) and existed by card
Scan orientation base station first when scheduled periodic knot wakes up, (2) card by locating base station scan carry out link-quality with
The comparison of locating base station type, (3) can satisfy the threshold value of setting as crossed signal link quality, then only best to link to survey
Away from positioning；Being known that according to the field distribution of directional aerial only can be to one of them in the next positioning card of the same locating base station
The active antenna in direction carries out ranging.And the positioning card in another direction only can with another direction positioning card ranging, so
Positioning card capacity improves 1 times in the unit time of single locating base station.
In order to solve the problems, such as that clock accuracy is demanding, the Promethean Global localization mode for having abandoned TDOA of this programme.
Card position can be judged in the case where single locating base station.Concrete methods of realizing is: one-dimensional positioning mode (1) locating base station
The two orientation active antennas in left and right can be configured；(2) positioning cards meeting basis works as the locating base station type scanned, link-quality,
It compares and judges that a nearest active antenna of a distance carries out ranging localization；(3) locating base station can be according in bus
Data to judge automatically out current card data be the card data that left antenna or right antenna are read, and it is pre- to be put into respective antenna
In fixed data buffer storage；(4) after locating base station is handled by modes such as smothing filtering, limit filtrations carry out data direction, distance,
The judgement of the informixes such as link-quality obtains direction and distance of the card apart from current locating base station.
In order to solve the movement shape that requirement this programme of life state monitoring joined acceleration transducer to wearer
State is monitored.When card detects that current location is under mine, and it is stationary for a long time or with the movement that learns early period
When track is not obviously inconsistent, card active reporting abnormal state information.There is a acceleration transducer can be in inside positioning cards
The disconnected mode for waking up MCU is judged come the MCU to positioning card.
Due to ranging period longer bring position error when in order to solve the problems, such as card high-speed cruising, card joined 3
Axle acceleration sensor is capable of the acceleration information of real-time perception card.And then use software algorithm to current continuous ranging
Information carries out artificial software compensation, to have reached the location error compensation of high-speed cruising.Pass through the acceleration real-time monitored
The speed that information and last time are obtained by the information of ranging, obtains actual speed using the mode of V=v1+a, wherein a is indicated
The acceleration real-time monitored, v1 indicate the speed obtained by the information of ranging last time, and V is actual speed.Pass through practical speed
Degree is to deduce card physical location when the not ranging within the ranging period.
Claims (8)
1. a kind of mining base station positioning system, it is characterised in that: including location client end, location-server, positioning master station, positioning
Substation, positioning antenna and positioning cards, wherein positioning master station at least two, each positioning master station correspond to multiple positioning substations；
Wherein, location client end is used for the information to the current positioning cards of present customers, and location-server is used to parse from each positioning
The location data of main website, each positioning master station and positioning substation are connected separately with two positioning antennas, and each positioning master station is opposite
It is sequentially connected between the multiple positioning substations answered, is then connected again with corresponding positioning master station, positioning cards have multiple, Mei Geding
Position card is connect with positioning antenna wireless.
2. a kind of mining base station positioning system according to claim 1, which is characterized in that positioning antenna is direction and location day
Line.
3. a kind of mining base station localization method, which comprises the following steps:
(1) positioning cards carry out detection search to locating base station by way of wireless channel energy scan；
(2) positioning cards carry out ranging to locating base station by sending wireless data application to the antenna of locating base station, and wait
Agree to or refuses；
(3) locating base station carries out storage filling and processing to the positioning cards information received, and by logic judgment to card release
Piece locating base station left or right side and calculate actual range；
(4) location-server parses the Ethernet location data from positioning master station；
(5) location client end is to the position of the current positioning cards of present customers, speed and configuration information.
4. a kind of mining base station localization method according to claim 3, which is characterized in that step (1) the following steps are included:
(11) positioning cards wake up primary according to the period every five seconds of agreement, and positioning cards of every wake-up carry out positioning base first
It stands search, support is simultaneously scanned for 5 locating base stations；
(12) if continuing to exceed 5 times after positioning cards wake up all without scanning to locating base station, wake-up period enters every
It wakes up within 20 seconds primary；Unless acceleration transducer acute variation or scan again is restored to after locating base station and wakes up for 5 seconds
Period.
5. a kind of mining base station localization method according to claim 3, which is characterized in that step (2) specifically:
Positioning cards send broadcast message to designated channel, and locating base station receives and replys positioning base to positioning cards after broadcast message
ID number of standing information, positioning cards receive return information, then complete to scan；
Positioning cards compare the best locating base station application of selection link according to the signal strength of return information, by difference and survey
Away from thinking identical if gap is less than 15；
Locating base station agrees to positioning cards ranging, and the period for agreeing to ranging and next ranging is replied to positioning cards；
Positioning cards start ranging, by the flight time of detected wireless signals, then carry out ranging multiplied by the light velocity；Locating base station
Ranging is replied to positioning cards；
Positioning cards upload ranging information to locating base station, and then locating base station is uploaded to location-server.
6. a kind of mining base station localization method according to claim 3 or 5, which is characterized in that positioning cards are used and are based on
TWR round trip telemetry carries out ranging to locating base station, specifically:
Locating base station initiates ranging application to positioning cards, and positioning cards receive and reply ranging to locating base station after application, fixed
Actual range of the position base station to positioning cards are as follows:
Wherein, dABFor the actual range of locating base station to positioning cards, C is the light velocity, TAIt initiates for locating base station to receiving letter
Number time, TBSignal is received to the time for issuing signal for positioning cards.
7. a kind of mining base station localization method according to claim 3, which is characterized in that step (3) the following steps are included:
(31) when the data cached information of the antenna of the left and right of positioning cards two all expires, locating base station is by judging positioning cards
Signal strength judge the directions of positioning cards；Use the range data for having determined that direction side as positioning card simultaneously
The distance of piece reports positioning cards information；If locating base station judge direction, two caching signal strength differences less than 15,
Positioning cards direction cannot be then judged by positioning cards signal strength, abandon this information reporting；
(32) when the one of data of data cached information of positioning cards or so antenna have been filled with and another does not have
It fills up, then judges positioning cards in the side having been filled with；Simultaneously using the range data work for having determined that direction side
Positioning cards information is reported for the distance of positioning cards；
(33) when the data cached information of positioning cards or so antenna is not all filled up, then judge whether some direction is continuously come
Two frame data；If it is positioning cards are judged in the direction for continuously carrying out data, while use has determined that direction side
Range data positioning cards information is reported as the distance of positioning cards；Otherwise this information reporting is abandoned；
(34) if locating base station receives for the first time changes positioning cards information, a sub-region is directly reported to enter information.
8. a kind of mining base station localization method according to claim 3, which is characterized in that location-server in step (4)
Affiliated locating base station, positioning card direction and the range information reported according to positioning master station, and according to pre-set map into
Row is inserted into actual geographical location；Specifically:
(41) location-server receives the TCP number from scheduled 10000 port by the TCP server port of creation
According to；TCP data is put into the data buffer storage of locating base station first after receiving data and sends a message to data processing line
Journey；
(42) data processing threads receive message and start to parse data, first parsing No. HID of base station and in advance
No. HID be placed on map be compared whether have it is consistent, if there is then lock receive positioning cards information current base
It stands；
(43) lock current base station after parse information in card direction definition and range information, by the icon of card be placed by
The equal proportion position calculated according to map pixel.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110532336A (en) * | 2019-08-27 | 2019-12-03 | 南京北路自动化***有限责任公司 | Mine down-hole positioning system and paths planning method based on Javascript and Html5 |
| CN110996250A (en) * | 2019-11-28 | 2020-04-10 | 郑州芯力波通信息技术有限公司 | Mining personnel positioning system and method |
| CN112073911A (en) * | 2020-08-04 | 2020-12-11 | 北方雷科(安徽)科技有限公司 | Mine car position information sending method, device, server and storage medium |
| CN112367609A (en) * | 2020-10-30 | 2021-02-12 | 江苏三恒科技股份有限公司 | Method for accurately positioning single base station in coal mine |
| CN115695153A (en) * | 2023-01-03 | 2023-02-03 | 长沙莫之比智能科技有限公司 | CAN communication monitoring and automatic abnormal recovery method |
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