CN109736775A - A kind of super layer crosses the border detection system and method - Google Patents
A kind of super layer crosses the border detection system and method Download PDFInfo
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Abstract
A kind of super layer crosses the border detection system and method, comprising: data collection terminal, data processing platform (DPP) and monitoring server；Data collection terminal includes Inertial Measurement Unit, magnetometer, electronic mineral figure, and data collection terminal acquires the exercise data in supervisor's mine, and is sent to data processing platform (DPP)；Inertial Measurement Unit acquires supervisor's angular velocity data and acceleration information；Magnetometer acquires supervisor's surrounding magnetic field data；Coordinate of the electronic mineral figure real-time display supervisor in mine；Data processing platform (DPP) carries out the Fusion based on Kalman filter to supervisor's acceleration, angular speed and the magnetometer data of data acquisition equipment acquisition in real time, and fusion results and electronic mineral figure xyz coordinate are subjected to the data fusion based on particle filter, it obtains supervisor's coordinates of motion and the super layer of mine crosses the border result, and it is uploaded to monitoring server, realization surpasses the monitoring that layer crosses the border to mine.This patent can realize the real-time continuous measurement of coordinates of supervisor, surpass layer suitable for mine and cross the border supervision.
Description
Technical field
It crosses the border detection system the present invention relates to a kind of super layer, surpasses layer suitable for mine and cross the border supervision.
Background technique
Currently, the super layer of Mineral Resources in China, which crosses the border, exploits phenomenon protrusion, cause the serious destruction Of resources and security risk, because
This high-precision, efficient super layer, which cross the border to detect, is of great significance to exploitation of mineral resources management.
The current super layer detection device that crosses the border is mainly total station, total station combined by machinery, electronics, optical component and
At, can measurement angle and measurement distance simultaneously, by the coordinate of total station survey mine, monitoring mine tunnel and working face are adopted
Position is dug, the phenomenon that carrying out digging beyond setting acceptance region is judged whether there is, is crossed the border with determining whether there is super layer.Whole station
The principle of the measurement method of instrument is the transmitting of multiple spot coordinate, therefore there are multiple spots to set the problems such as standing measurement, front-rear view, causes to measure
Efficiency is lower, and with the increase of measurement distance, measurement error can be accumulated gradually, cause error to be amplified, influence measurement accuracy.
According to State Patent Office's retrieval center patent consulting, there is patent to propose that a kind of super layer of the mineral products based on Internet of Things crosses the border and supervise system
System, application No. is: 201220119716.X, the patent are carried out the measurement of coordinates in tunnel using total station, set station using multiple spot, set
The method for setting measurement point, preceding viewpoint and backsight point measures, and measurement efficiency is low, and because the measuring principle of total station causes to grow
Error accumulation in the case of range measurement, coordinate precision reduce, it is difficult to which the super layer of effective monitoring mine crosses the border.
Summary of the invention
Technology of the invention solves the problems, such as: overcome the deficiencies of the prior art and provide a kind of precision it is high, dynamic continuous three
Dimension measurement, easily to operate a kind of super layer cross the border detection system and method.
In order to achieve the above objectives, the technical solution adopted by the present invention are as follows:
A kind of super layer crosses the border detection system, comprising: data collection terminal (1), data processing platform (DPP) (2) and monitoring server
(3)；Data collection terminal (1) includes Inertial Measurement Unit (4), magnetometer (7), electronic mineral figure (8), wherein Inertial Measurement Unit
(4) supervisor's angular velocity data and acceleration information are acquired by three-axis gyroscope (5) and three axis accelerometer (6) respectively；Magnetic
Strong meter (7) acquires supervisor's surrounding magnetic field data；Coordinate of electronic mineral figure (8) the real-time display supervisor in mine；Data are adopted
Collection end (1) exists collected supervisor's angular velocity data and acceleration information, supervisor's surrounding magnetic field data and supervisor
Coordinate in mine is sent to data processing platform (DPP) (2)；Data processing platform (DPP) (2) is in real time to the prison of data collection terminal (1) acquisition
The person's of examining acceleration, angular speed, magnetometer data and electronic mineral figure xyz coordinate data are carried out more by Kalman filter module (9)
Data Fusion of Sensor, first angular velocity data and acceleration information obtain inertial position, speed by strapdown resolves module (10)
Degree and posture information；Angular velocity data and acceleration information are utilized simultaneously, calculate angular speed number by zero-speed detection module (21)
According to modulus value, the modulus value of acceleration information, and respectively with the angular velocity data threshold value of setting and acceleration information threshold comparison, together
When calculate angular velocity data noise criteria difference and acceleration information noise criteria it is poor, and respectively with the angular velocity data of setting
The comparison of the statistical noise standard deviation threshold method of noise criteria difference threshold value and acceleration information, carries out zero-speed detection, obtains supervisor's
Zero-speed information；Magnetometer data and electronic mineral figure xyz coordinate data are obtained by observation data acquisition module (12)；By above-mentioned victory
The data that connection resolves module (10), zero-speed detection (21) and magnetometer (7) carry out 18 by the first Kalman filter module (11)
Tie up Kalman filter, estimation obtain filtered position, speed, posture and interference magnetic field, using magnetometer (7) data and estimate
Obtained interference magnetic field is counted, resolving obtains the accurate magnetic field model under current environment, by the accurate magnetic field model under current environment
Filtered position, speed, posture, and observation data acquisition module (12) are obtained with the estimation of the first Kalman filter module (11)
The magnetometer data and electronic mineral diagram data of acquisition carry out 15 dimension Kalman filters by the second Kalman filter module (22), estimate
Meter obtains location error, velocity error and attitude error, carries out error correction by error feedback module (13), obtains supervisor
Motion profile, and motion profile is sent to super layer and is crossed the border detection module (14), based on particle filter module (16) to track
Obtain supervisor's motion profile coordinate that module (15) obtain and the electronic mineral that electronic mineral figure coordinate obtaining module (17) is got
Figure coordinate carries out the data fusion of supervisor's track coordinate data and map reference data, obtains supervisor in electronic mineral figure
The coordinates of motion, by super layer cross the border judgment module (18) carry out supervisor's motion profile and electronic mineral figure xyz coordinate pair ratio, sentence
Disconnected mine crosses the border with the presence or absence of super layer, and motion profile and super layer result of crossing the border by network are uploaded to monitoring server (3),
Monitoring server passes through data memory module (19) first and carries out storage backup to data, while being based on data monitoring module
(20), realize that surpassing the cloud that layer crosses the border to mine monitors.
It is described that zero-speed detection is carried out by zero-speed detection module (21) using angular velocity data and acceleration information, calculate prison
Zero-speed information when Cha Yuan foot lands, zero-speed detection include two examination criterias, and two examination criterias meet simultaneously, then it is assumed that
Current is zero-speed state: 1) the modulus value < ω 0 of continuous N frame angular velocity data, wherein ω 0 is the angular velocity data threshold value of setting,
The modulus value < 1+a0 of the continuous N frame acceleration information of 1-a0 < simultaneously, wherein a0 is the acceleration information threshold value of setting；2) continuous N
The angular velocity data noise criteria difference threshold value of the noise criteria difference < setting of frame angular velocity data, while continuous N frame acceleration is surveyed
The noise criteria difference threshold value of the acceleration information of the noise criteria difference < setting of acceleration information is measured, wherein frame number N is zero-speed inspection
The data frame number of continuous acceleration and angular speed needed for surveying.
The cross the border super layer of judgment module (18) of the super layer crosses the border judgement comprising two kinds of forms: 1) comparing electronic mineral figure xyz
Coordinate and supervisor's motion profile grid deviation, while calculating supervisor and moving mileage, movement mileage is from a upper electronic mineral
Figure observation point xyz coordinate starts, and integrates to supervisor's motion profile coordinate, is integrated to current supervisor's motion profile coordinate
Obtained supervisor moves mileage, when supervisor's motion profile coordinate and electronic mineral figure xyz grid deviation are more than movement mileage 3%
When, judge that there is super layer crosses the border；2) whether comparison supervisor's motion profile coordinate exceeds electronic mineral figure restriction digging range boundary,
Judge that there is super layer crosses the border, and is otherwise not present if crossing electronic mineral figure and limiting digging range boundary 3m.
The data collection terminal (1) is wearable device, is fixed on foot or the waist of supervisor, to facilitate detection to supervise
The motion state of member.
Crossed the border detection system using the super layer, carry out super layer cross the border detection method flow it is as follows:
Data collection terminal (1): being tied to foot or the waist of aufsichtsrat by step (1), forms the connected relationship of rigidity；
Step (2): data collection terminal (1) acquires acceleration information, the angular velocity data of Inertial Measurement Unit (4), acquisition
The magnetic field data of magnetometer (7) acquires the coordinate data of electronic mineral figure (8)；
Step (3): acceleration information that data processing platform (DPP) (2) is measured according to Inertial Measurement Unit (4), angular velocity data
Strapdown resolving is carried out by strapdown resolves module (10), obtains position, speed and posture information, while being based on acceleration and acceleration
Whether degree carries out zero-speed detection according to by zero-speed detection module (21), judge data collection terminal currently in zero-speed state；
Step (4): the first Kalman filter module (11) filter status equation is 18 dimensions, and respectively 3 d pose misses
Difference, three-dimensional velocity error, three-dimensional position error, three-dimensional gyro zero bias, three-dimensional accelerometer zero bias, three-dimensional magnetometer error, benefit
It uses zero-speed as Kalman filter observed quantity, carries out Kalman filter estimation, estimation magnetometer interference magnetic field and filtered
Position, speed, posture information；
Step (5): it after carrying out Kalman filter by the first Kalman filter module (11), utilizes magnetometer (7)
The measured magnetic field of measurement and the first Kalman filter module (11) estimate obtained interference magnetic field, and resolving obtains under current environment
Accurate magnetic field model；
Step (6): the accurate magnetic field model of current environment that is obtained according to step (5), the first Kalman filter module (11)
Obtained filtered position, speed, posture information, magnetometer (7) data and electronic mineral figure xyz coordinate are estimated, according to second
Kalman filter (22), filter are 15 dimension state equations, respectively 3 d pose error, three-dimensional velocity error, three-dimensional position
Error, three-dimensional gyro zero bias, three-dimensional accelerometer zero bias carry out the Fusion based on Kalman filter, estimate
Filtered location error, velocity error, attitude error are obtained, and carries out error feedback based on error feedback module (13), is obtained
To accurate supervisor position, speed and posture；
Step (7): when supervisor is moved at electronic mineral coordinate marked in the figure, acquiring the coordinate data of electronic mineral figure,
The motion profile of supervisor is obtained with error feedback module (13), carries out data fusion and map match based on particle filter,
Estimation obtains supervisor's coordinates of motion；
Step (8): supervisor's coordinates of motion and electronic mineral figure (8) are compared, and determine that mine is got over the presence or absence of super layer
Zone phenomenon: 1) it compares electronic mineral figure xyz coordinate and whether supervisor's motion profile coordinate is consistent, when supervisor's motion profile coordinate
When being more than movement mileage 3% with electronic mineral figure xyz grid deviation, judge that there is super layer crosses the border；2) supervisor's motion profile is compared
Whether coordinate, which exceeds electronic mineral figure, limits digging range boundary, judges if crossing electronic mineral figure and limiting digging range boundary 3m
There are super layers to cross the border, and is otherwise not present；
Step (9): if it find that super layer crosses the border, then super layer geofence is carried out, is otherwise continued to test；
Step (10): super layer testing result of crossing the border by the network of mine is uploaded to monitoring server in real time or afterwards
(3), the super layer of mine that monitoring server receives and stores upload crosses the border testing result, and realization surpasses the monitoring that layer crosses the border to mine.
The principle of the present invention is: a kind of super layer crosses the border detection system, comprising: data collection terminal, data processing platform (DPP) and prison
Control server；Data collection terminal is wearable device, is fixed on foot or the waist of supervisor, to facilitate the fortune of detection supervisor
Dynamic state, data collection terminal include: Inertial Measurement Unit, magnetometer, electronic mineral figure, acquire the movement number in supervisor's mine
According to, and it is sent to data processing platform (DPP)；Inertial Measurement Unit acquires supervisor's angular velocity data and acceleration information；Magnetometer is adopted
Collect supervisor's surrounding magnetic field data；Coordinate of the electronic mineral figure real-time display supervisor in mine；Data processing platform (DPP) is right in real time
The supervisor's angular velocity data and acceleration information of data acquisition equipment acquisition carry out zero-speed detection, and utilize zero-speed detection knot
Fruit, carries out the Fusion based on Kalman filter under quiescent conditions, estimation magnetometer interference magnetic field and position,
Speed, posture information.Data processing platform (DPP) is calculated using the interference magnetic field that magnetometer survey data, estimation obtain works as front ring
The accurate magnetic field in border, and carried out according to the accurate magnetic field of current environment and electronic mineral figure xyz coordinate based on the more of Kalman filter
Data Fusion of Sensor, estimation obtain accurate position, speed and posture information.Data processing platform (DPP) utilizes multi-sensor data
Fused position, speed, posture information carry out data fusion and map based on particle filter with electronic mineral figure xyz coordinate
Matching, estimation obtains supervisor's coordinates of motion, and supervisor's coordinates of motion and mine figure are compared, and determines that mine whether there is
Super layer cross-border phenomenon, and super layer testing result of crossing the border is uploaded to monitoring server, realization surpasses the monitoring that layer crosses the border to mine.
The advantages of the present invention over the prior art are that:
(1) present invention constitutes data collection terminal using micromachined process, micromechanics magnetometer and electronic mineral figure, if
It is standby light, easy to wear；
(2) present invention can carry out data acquisition and real time data in the dynamic case and resolve, and realize super layer and cross the border inspection
Real-time, continuous, the dynamic surveyed measure；
(3) present invention carries out positioning calculation by the way of the fusion of inertial sensor, magnetometer and electronic mineral diagram data, real
The high-acruracy survey that super layer crosses the border is showed.
Detailed description of the invention
Fig. 1 is system composition schematic diagram of the invention；
Fig. 2 is working-flow figure of the invention.
Specific embodiment
The detection system as shown in Figure 1, a kind of super layer crosses the border, comprising: data collection terminal 1, data processing platform (DPP) 2 and monitoring clothes
Business device 3；Data collection terminal 1 includes: Inertial Measurement Unit 4, and Inertial Measurement Unit uses MPU6500, magnetometer in the present embodiment
7, magnetometer selects AK8975 in the present embodiment, electronic mineral Fig. 8, and electronic mineral figure uses ArcGIS coal mine electronic mineral in the present embodiment
Figure acquires the exercise data in supervisor's mine, and is sent to data processing platform (DPP) 2；It include three-axis gyroscope inside MPU6500
5 and three axis accelerometer 6, supervisor's angular velocity data and acceleration information are acquired respectively；Magnetometer AK8975 acquires supervisor
Surrounding magnetic field data；Coordinate of the ArcGIS coal mine electronic mineral figure real-time display supervisor in mine；Data processing platform (DPP) 2 is real-time
To supervisor's acceleration, magnetometer data and electronic mineral figure xyz coordinate data that data acquisition equipment 1 acquires, the present embodiment number
W700 type intelligence three proofings mobile phone is used according to processing platform, Fusion is carried out based on Kalman filter module 9, wherein
Kalman filter module 9 is obtained including zero-speed detection module 21, strapdown resolves module 10, the first Kalman filter 11, observation data
Modulus block 12, the second Kalman filter 22 and error feedback module 13 are based on using angular velocity data and acceleration information first
Strapdown resolves module 10 carries out strapdown resolving, obtains inertial position, speed and posture information；Angular velocity data is used simultaneously and is added
Speed data is based on zero-speed detection module 21 and carries out zero-speed detection, obtains the zero-speed information of supervisor；By observing data acquisition
Module 12 obtains magnetometer AK8975 data and ArcGIS coal mine electronic mineral figure xyz coordinate data；By above-mentioned strapdown resolves module
10, zero-speed detection module 21 and the data of magnetometer AK8975 are based on 18 the first Kalman filters 11 of dimension and carry out Kalman filter,
Observed quantity based on zero-speed information and AK8975 magnetometer data as Kalman filter, estimation obtain position, speed, posture and
Magnetic field is interfered, the interference magnetic field obtained using AK8975 magnetometer data and estimation, resolving obtains the accurate magnetic under current environment
Field model, by accurate magnetic field model, the estimation of the first Kalman filter 11 obtains position, speed, posture and observation data acquisition mould
The AK8975 magnetometer data and ArcGIS coal mine electronic mineral diagram data that block 12 obtains are based on the second Kalman filter 22, filtering
Device is 15 dimension Kalman filters, and estimation obtains position, speed and attitude error, carries out error by error feedback module 13 and repairs
Just, it obtains the motion profile of supervisor, and motion profile is sent to super layer and is crossed the border detection module 14, the detection wherein super layer crosses the border
Module 14 includes that track obtains module 15, particle filter module 16, electronic mineral figure coordinate obtaining module 17 and super layer cross the border judgement
Module 18 obtains the supervisor's trajectory coordinates and electronic mineral figure seat that module 15 obtains to track based on particle filter module 16
Mark obtains the ArcGIS coal mine electronic mineral figure coordinate that module 17 is got, and carries out supervisor's track coordinate data and map reference number
According to data fusion, obtain the coordinates of motion of the supervisor in ArcGIS coal mine electronic mineral figure, crossed the border judgment module by super layer
18 carry out supervisor's motion profile and ArcGIS coal mine electronic mineral figure xyz coordinate pair ratio, judge that mine crosses the border with the presence or absence of super layer,
And motion profile and super layer result of crossing the border by network are uploaded to monitoring server 3, wherein monitoring server 3 is deposited including data
Module 19 and data monitoring module 20 are stored up, monitoring server 3 uses Huawei RH2288 V3 type server, Huawei in the present embodiment
RH2288 V3 type monitoring server passes through 19 module of data memory module first and carries out storage backup to data, while based on number
According to monitoring module 20, realize that surpassing the cloud that layer crosses the border to mine monitors.
As shown in Fig. 2, being present system workflow:
Data collection terminal 1: being tied to foot or the waist of aufsichtsrat by step (1), forms the connected relationship of rigidity；
Step (2): data collection terminal 1 acquires the angular velocity data and acceleration information of Inertial Measurement Unit MPU6500, adopts
Collect the magnetic field data of magnetometer AK8975, to improve system accuracy, the data updating rate of Inertial Measurement Unit MPU6500 >=
Data updating rate >=50Hz of 100Hz, magnetometer AK8975 acquire the coordinate data of ArcGIS coal mine electronic mineral figure, ArcGIS
It is available by ArcGIS comprising the coordinate remembered in advance by the electronic mineral icon of total station survey in coal mine electronic mineral figure；
Step (3): acceleration information that data processing platform (DPP) W700 is measured according to Inertial Measurement Unit MPU6500, angle speed
Degree carries out strapdown resolving according to by strapdown resolves module 10, obtains position, speed and posture information；Data processing platform (DPP) W700
Zero-speed detection is carried out according to the angular velocity data of Inertial Measurement Unit MPU6500 measurement and acceleration information, zero-speed detection uses
Two methods: 1) by judging the threshold value of acceleration and angular speed data, theoretically when accelerometer static state, acceleration modulus value
For 1g, angular speed modulus value is 0 °/s when gyroscope static state, it is contemplated that sensor error and usage scenario, angular speed in the present embodiment
Data threshold is set as 5 °/s, and acceleration information threshold value is set as 0.05g, therefore zero-speed detection condition are as follows: (angular velocity data mould
5 °/s of value <) & (0.95 < acceleration information modulus value < 1.05)；2) in the present embodiment, it is based on universal method, is surveyed under quiescent conditions
Angulation speed data and acceleration information 10 minutes, and angular velocity data is counted respectively and the noise criteria of acceleration information is poor,
Respectively δ g0, δ a0 remember that 5 δ g0 are the angular velocity data noise criteria difference threshold value of setting in the present embodiment, and 5 δ a0 of note are to set
In system use process, it is poor to analyze continuous 10 frame angular velocity data noise criteria for fixed acceleration information noise criteria difference threshold value
It is poor with acceleration information noise criteria, respectively δ g, δ a, therefore zero-speed detection condition are as follows: (5 δ g0 of δ g <) & (5 δ of δ a <
a0)；When the above method 1) and method 2) simultaneously when setting up, then it is assumed that it is currently zero-speed state.
Step (4): if detection is currently zero-speed, it is based on the first Kalman filter module 11, filter is 18 dimension states
Equation, respectively 3 d pose error, three-dimensional velocity error, three-dimensional position error, three-dimensional gyro zero bias, three-dimensional accelerometer zero
Partially, three-dimensional magnetometer error carries out Kalman filter estimation using zero-speed as Kalman filter observed quantity, estimates magnetic strength
Meter interference magnetic field and filtered position, speed, posture information；
Step (5): after carrying out Kalman filter by the first Kalman filter module 11,7 magnetic field of magnetometer is utilized
The interference magnetic field that measured value and estimation obtain, resolving obtain the accurate magnetic field model under current environment；
Step (6): the accurate magnetic field model of current environment that is obtained according to step (5), the first Kalman filter module 11 are estimated
Obtained filtered position, speed, posture information, 7 test data of magnetometer and electronic mineral figure xyz coordinate is counted, according to second
Kalman filter module 22, filter are 15 dimension state equations, respectively 3 d pose error, three-dimensional velocity error, three-dimensional position
Error, three-dimensional gyro zero bias are set, three-dimensional accelerometer zero bias carry out the Fusion based on Kalman filter, estimate
Meter obtains location error, velocity error, attitude error, and carries out error feedback based on error feedback module (13), and it is accurate to obtain
Supervisor position, speed and posture；
Step (7): when moving at electronic mineral coordinate marked in the figure to supervisor, mould is obtained based on electronic mineral figure coordinate
Block 17 acquires the coordinate data of the label of ArcGIS coal mine electronic mineral figure, passes through entirely in ArcGIS coal mine electronic mineral figure comprising prior
The coordinate of the label of instrument of standing measurement, the manual or automatic acquisition ArcGIS electronic mineral of supervisor coordinate marked in the figure, error feedback
Module 13 obtains the motion profile of supervisor, and data fusion and map based on particle filter are carried out based on particle filter module 16
Matching, estimation obtain supervisor's coordinates of motion；
Step (8): being crossed the border judgment module 18 based on super layer, by supervisor's coordinates of motion and ArcGIS coal mine electronic mineral figure into
Row comparison determines mine with the presence or absence of super layer cross-border phenomenon, and super layer, which crosses the border, to be detected comprising 2 kinds of forms: comparison electronic mineral figure xyz is sat
Whether mark is consistent with supervisor's motion profile coordinate, when supervisor's motion profile coordinate and electronic mineral figure xyz grid deviation are more than
When moving mileage 3%, judge that there is super layer crosses the border；2) whether comparison supervisor's motion profile coordinate exceeds the restriction of electronic mineral figure and adopts
Range boundary is dug, judges that there is super layer crosses the border, and is otherwise not present if crossing electronic mineral figure and limiting digging range boundary 3m；
Step (9): if it find that super layer crosses the border, then super layer geofence is carried out, is otherwise continued to test；
Step (10): super layer testing result of crossing the border is uploaded to Huawei RH2288 by the network of mine in real time or afterwards
V3 type monitoring server 3, monitoring server 3 store the super layer of mine uploaded based on data memory module 19 and cross the border testing result,
And the monitoring that layer crosses the border is surpassed to mine by the realization of data monitoring module 20.
Claims (5)
- The detection system 1. a kind of super layer crosses the border, it is characterised in that: include: data collection terminal (1), data processing platform (DPP) (2) and prison It controls server (3)；Data collection terminal (1) includes Inertial Measurement Unit (4), magnetometer (7), electronic mineral figure (8), and wherein inertia is surveyed Amount unit (4) acquires supervisor's angular velocity data by three-axis gyroscope (5) and three axis accelerometer (6) respectively and accelerates degree According to；Magnetometer (7) acquires supervisor's surrounding magnetic field data；Coordinate of electronic mineral figure (8) the real-time display supervisor in mine；Number According to collection terminal (1) by collected supervisor's angular velocity data and acceleration information, supervisor's surrounding magnetic field data and supervision Coordinate of the member in mine is sent to data processing platform (DPP) (2)；Data processing platform (DPP) (2) in real time acquires data collection terminal (1) Supervisor's acceleration information, angular velocity data, magnetometer data and electronic mineral figure xyz coordinate data, pass through Kalman filter Module (9) carries out Fusion, and angular velocity data and acceleration information first is obtained by strapdown resolves module (10) To position, speed and posture information；Angular velocity data and acceleration information are utilized simultaneously, are calculated by zero-speed detection module (21) The modulus value of angular velocity data and the modulus value of acceleration information, and respectively with the angular velocity data threshold value of setting and acceleration information threshold Value comparison, while calculate angular velocity data noise criteria difference and acceleration information noise criteria it is poor, and respectively with setting The comparison of the statistical noise standard deviation threshold method of angular velocity data noise criteria difference threshold value and acceleration information, carries out zero-speed detection, obtains To the zero-speed information of supervisor；Magnetometer data and electronic mineral figure xyz number of coordinates are obtained by observation data acquisition module (12) According to；The data of above-mentioned strapdown resolves module (10), zero-speed detection module (21) and magnetometer (7) are passed through into the first Kalman filter Module (11) carries out 18 dimension Kalman filters, and estimation obtains filtered position, speed, posture and interference magnetic field, utilizes magnetic strength The interference magnetic field that the data and estimation for counting (7) obtain, resolving obtains the accurate magnetic field model under current environment, by obtained standard True magnetic field model and the first Kalman filter module (11) estimate obtained filtered position, speed, posture, and observation number 15 are carried out by the second Kalman filter module (22) according to magnetometer data and electronic mineral diagram data that module (12) obtain is obtained Kalman filter is tieed up, estimation obtains location error, velocity error and attitude error, carries out error by error feedback module (13) Amendment, obtains the motion profile of supervisor, and motion profile is sent to super layer and is crossed the border detection module (14), is based on particle filter Module (16) obtains the supervisor's motion profile coordinate and electronic mineral figure coordinate obtaining module (17) that module (15) obtain to track The electronic mineral figure coordinate got carries out the data fusion of supervisor's track coordinate data and map reference data, is supervised The coordinates of motion of the member in electronic mineral figure, by super layer cross the border judgment module (18) carry out supervisor's motion profile and electronic mineral figure Xyz coordinate pair ratio judges that mine crosses the border with the presence or absence of super layer, and motion profile and super layer result of crossing the border are uploaded to by network Monitoring server (3), monitoring server (3) carry out storage backup, while base to data by data memory module (19) first In data monitoring module (20), realize that surpassing the cloud that layer crosses the border to mine monitors.
- The detection system 2. super layer according to claim 1 crosses the border, it is characterised in that: the zero-speed detection includes two detections Standard, two examination criterias meet simultaneously, then it is assumed that current is zero-speed state: 1) the modulus value < ω of continuous N frame angular velocity data 0, wherein ω 0 is the angular velocity data threshold value of setting, while the modulus value < 1+a0 of the continuous N frame acceleration information of 1-a0 <, wherein A0 is the acceleration information threshold value of setting；2) angular velocity data of the noise criteria difference < setting of continuous N frame angular velocity data is made an uproar Sound standard deviation threshold method, while the acceleration information of the noise criteria difference < setting of continuous N frame acceleration analysis acceleration information Noise criteria difference threshold value, wherein frame number N is the data frame number of continuous acceleration and angular speed needed for zero-speed detection.
- The detection system 3. super layer according to claim 1 crosses the border, it is characterised in that: super layer crosses the border the super of judgment module (18) Layer, which crosses the border, to be judged comprising two kinds of forms: 1) comparing electronic mineral figure xyz coordinate and supervisor's motion profile grid deviation, calculate simultaneously Supervisor moves mileage, and movement mileage is to sit since upper electronic mineral figure observation point xyz coordinate to supervisor's motion profile Mark is integrated, and is integrated to the supervisor that current supervisor's motion profile coordinate obtains and is moved mileage, when supervisor's motion profile When coordinate and electronic mineral figure xyz grid deviation are more than movement mileage 3%, judge that there is super layer crosses the border；2) comparison supervisor movement Whether trajectory coordinates, which exceed electronic mineral figure, limits digging range boundary, if crossing electronic mineral figure and limiting digging range boundary 3m Judgement is crossed the border in the presence of super layer, is otherwise not present.
- The detection system 4. super layer according to claim 1 crosses the border, it is characterised in that: data collection terminal (1) is wearable sets It is standby, it is fixed on foot or the waist of supervisor, to facilitate the motion state of detection supervisor.
- 5. realizing that super layer crosses the border the method for detection using super layer described in claim 1 detection system of crossing the border, it is characterised in that: work It is as follows to make process:Data collection terminal (1): being tied to foot or the waist of aufsichtsrat by step (1), forms the connected relationship of rigidity；Step (2): data collection terminal (1) acquires the angular velocity data and acceleration information of Inertial Measurement Unit (4), acquires magnetic strength The magnetic field data of (7) is counted, the coordinate data of electronic mineral figure (8) is acquired；Step (3): the angular velocity data and acceleration information that data processing platform (DPP) (2) is measured according to Inertial Measurement Unit (4) lead to It crosses strapdown resolves module (10) and carries out strapdown resolving, obtain position, speed and posture information, while based on angular velocity data and adding Whether speed data carries out zero-speed detection by zero-speed detection module (21), judge data collection terminal currently in zero-speed state；Step (4): the first Kalman filter module (11) filter status equation is 18 dimensions, respectively 3 d pose error, three Velocity error, three-dimensional position error, three-dimensional gyro zero bias, three-dimensional accelerometer zero bias are tieed up, three-dimensional magnetometer error utilizes zero-speed As Kalman filter observed quantity, Kalman filter estimation, estimation magnetometer interference magnetic field and filtered position, speed are carried out Degree, posture information；Step (5): it after carrying out Kalman filter by the first Kalman filter module (11), is measured using magnetometer (7) Measured magnetic field and the first Kalman filter module (11) estimate obtained interference magnetic field, resolving obtains the standard under current environment True magnetic field model；Step (6): the accurate magnetic field model of current environment that is obtained according to step (5), the estimation of the first Kalman filter module (11) Obtained filtered position, speed, posture information, magnetometer (7) data and electronic mineral figure xyz coordinate, according to second Kalman filter (22), filter are 15 dimension state equations, respectively 3 d pose error, three-dimensional velocity error, three-dimensional position Error, three-dimensional gyro zero bias, three-dimensional accelerometer zero bias carry out the Fusion based on Kalman filter, estimate Filtered location error, velocity error, attitude error are obtained, and carries out error feedback based on error feedback module (13), is obtained To accurate supervisor position, speed and posture；Step (7): when supervisor is moved at electronic mineral coordinate marked in the figure, acquiring the coordinate data of electronic mineral figure, with mistake Poor feedback module (13) obtains the motion profile of supervisor, carries out data fusion and map match based on particle filter, estimation Obtain supervisor's coordinates of motion；Step (8): supervisor's coordinates of motion and electronic mineral figure (8) are compared, and it is existing to determine that mine crosses the border with the presence or absence of super layer As: 1) it compares electronic mineral figure xyz coordinate and whether supervisor's motion profile coordinate is consistent, when supervisor's motion profile coordinate and electricity When sub- mine figure xyz grid deviation is more than movement mileage 3%, judge that there is super layer crosses the border；2) supervisor's motion profile coordinate is compared Whether beyond electronic mineral figure restriction digging range boundary, judge exist if crossing electronic mineral figure and limiting digging range boundary 3m Super layer crosses the border, and is otherwise not present；Step (9): if it find that super layer crosses the border, then super layer geofence is carried out, is otherwise continued to test；Step (10): super layer testing result of crossing the border is uploaded to monitoring server (3) by the network of mine in real time or afterwards, is supervised The super layer of mine that control server (3) receives and stores upload crosses the border testing result, realizes and surpasses the monitoring that layer crosses the border to mine.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111325775A (en) * | 2020-01-21 | 2020-06-23 | 应急管理部信息研究院 | Mine super-layer boundary crossing detection method and system based on double filtering |
| CN111520189A (en) * | 2020-04-24 | 2020-08-11 | 电子科技大学 | Real-time monitoring system and method for coal mine super-layer boundary-crossing mining problem |
| CN113505858A (en) * | 2021-08-24 | 2021-10-15 | 中煤科工集团重庆研究院有限公司 | Method for identifying underground illegal operation area of coal mine based on massive activity track inversion |
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2019
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111325775A (en) * | 2020-01-21 | 2020-06-23 | 应急管理部信息研究院 | Mine super-layer boundary crossing detection method and system based on double filtering |
| CN111325775B (en) * | 2020-01-21 | 2024-05-14 | 应急管理部信息研究院 | Double-filtering-based mine super-layer boundary crossing detection method and system |
| CN111520189A (en) * | 2020-04-24 | 2020-08-11 | 电子科技大学 | Real-time monitoring system and method for coal mine super-layer boundary-crossing mining problem |
| CN111520189B (en) * | 2020-04-24 | 2021-06-01 | 电子科技大学 | Real-time monitoring system and method for coal mine super-layer boundary-crossing mining problem |
| CN113505858A (en) * | 2021-08-24 | 2021-10-15 | 中煤科工集团重庆研究院有限公司 | Method for identifying underground illegal operation area of coal mine based on massive activity track inversion |
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