CN112379329B - Accurate positioning method and system for underground pipe gallery moving object - Google Patents
Accurate positioning method and system for underground pipe gallery moving object Download PDFInfo
- Publication number
- CN112379329B CN112379329B CN202011228718.8A CN202011228718A CN112379329B CN 112379329 B CN112379329 B CN 112379329B CN 202011228718 A CN202011228718 A CN 202011228718A CN 112379329 B CN112379329 B CN 112379329B
- Authority
- CN
- China
- Prior art keywords
- signal
- underground pipe
- cabin
- pipe gallery
- signals
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001914 filtration Methods 0.000 claims description 9
- 238000005192 partition Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Geophysics And Detection Of Objects (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention relates to a method and a system for accurately positioning a moving object of an underground pipe gallery, which are characterized by comprising the following steps: 1) A signal transmitter is arranged in each cabin of the underground pipe gallery; 2) The signal receiver on the mobile object receives the AP signals transmitted by the signal transmitters in each cabin and transmits the AP signals to the upper computer; 3) The upper computer collects signal data received by a signal receiver on a moving object in unit time; 4) The upper computer determines the current cabin in which the mobile object is positioned according to the collected signal data, and the positioning of the mobile object in the underground pipe gallery is completed.
Description
Technical Field
The invention relates to a positioning method and a positioning system, in particular to a precise positioning method and a precise positioning system for a moving object of an underground pipe gallery.
Background
Urban road underground piping lane is built with tunnel space for integrating various types of pipelines such as electric power, cable, communication, water supply, heat and gas, etc., and the pipelines are generally classified so as to be respectively incorporated into different cabins, such as a water information cabin, an electric power cabin, a heat cabin, etc. Because of the special environmental structure of the underground pipe gallery, higher requirements are also put forward on the accurate positioning of moving objects of the underground pipe gallery.
The WIFI positioning method is characterized in that a wireless coverage system is established, and the WIFI positioning method comprises a positioning server, a switch, an AC wireless controller, AP (wireless access point) equipment, a directional antenna and a handheld positioning tag. At present, the wireless transmission of the underground pipe gallery generally adopts the method, specifically, the underground pipe gallery is assumed to be of a multi-cabin structure, each cabin is provided with an AP device, each 35 m of AP device is regarded as the current position of an operation and maintenance person, when the moving point is among a plurality of AP devices, the larger the signal of the AP device is, the closer the moving point is to the position of the AP device, and the position of the moving point is calculated according to the percentage of the signal size through the AP devices with the maximum signals.
However, the underground pipe gallery is often a structure with two or more cabins, which also causes the situation that signal strings exist between cabins of different types, the signal received by the moving point by the cabin with the partition wall is larger than that of the cabin with the partition wall, so that jump points are generated, and the judgment of the position information of personnel in the gallery is difficult to increase.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a precise positioning method and a system for an underground pipe gallery moving object, which can solve the problem of positioning a tandem cabin in the underground pipe gallery.
In order to achieve the above purpose, the present invention adopts the following technical scheme: an accurate positioning method of a movable object of an underground pipe gallery comprises the following steps:
1) A signal transmitter is arranged in each cabin of the underground pipe gallery;
2) The signal receiver on the mobile object receives the AP signals transmitted by the signal transmitters in each cabin and transmits the AP signals to the upper computer;
3) The upper computer collects signal data received by a signal receiver on a moving object in unit time;
4) And the upper computer determines the current cabin in which the moving object is positioned according to the acquired signal data, and the positioning of the moving object in the underground pipe gallery is completed.
Further, in the step 2), the signal receiver sends the received signal to the upper computer in a WIFI wireless manner.
Further, the signal data includes an AP signal strength value and an AP signal number.
Further, the specific process of the step 4) is as follows:
4.1 The upper computer filters the collected signal data and retains the signal data of which the AP signal strength value is larger than a preset AP signal strength threshold value;
4.2 The upper computer counts the filtered signal data according to the pre-stored AP signals of the signal transmitters corresponding to the cabins, determines the cabin with the largest number of the AP signals, and takes the cabin as the current cabin where the mobile object is located;
4.3 If there are a plurality of cabins with the largest number of the AP signals, resetting the threshold value of the AP signal strength to enter the step 4.1) until the only cabins with the largest number of the AP signals are obtained.
Further, a directional antenna for increasing the signal intensity of the AP is further arranged in the underground pipe gallery in the step 1).
The accurate positioning system of the underground pipe gallery moving object comprises a signal transmitter and an upper computer, wherein a data acquisition module and a positioning module are arranged in the upper computer;
the signal transmitters are fixedly arranged in each cabin of the underground pipe gallery and are used for transmitting AP signals outwards;
The data acquisition module is used for acquiring signal data received by a signal receiver on a moving object in unit time;
The positioning module is used for determining the current cabin where the moving object is located according to the collected signal data.
Further, the signal receiver adopts a WIFI wireless mode to send the received signal to the upper computer.
Further, the positioning module comprises a threshold setting unit, a filtering unit and a positioning unit;
the threshold setting unit is used for presetting an AP signal strength threshold;
The filtering unit is used for filtering the collected signal data according to a preset AP signal strength threshold value;
The positioning unit is used for counting the filtered signal data according to the pre-stored AP signals of the signal transmitters corresponding to the cabins, determining the cabin with the largest number of the AP signals, and taking the cabin as the current cabin where the mobile object is located.
Further, the signal data includes an AP signal strength value and an AP signal number.
Further, directional antennas for increasing the signal intensity of the AP are further arranged in the underground pipe gallery.
Due to the adoption of the technical scheme, the invention has the following advantages: the invention determines the current cabin where the mobile object is located by comparing the signal intensity with the frequency through the signal data received by the signal receiver on the mobile object in unit time acquired by the upper computer, can solve the frequent occurrence of signal serial cabins of the underground pipe gallery with a multi-cabin structure, can not solve the situation of actual signal serial cabins by adjusting the signal intensity of the AP equipment of the adjacent cabins, and can be widely applied to the underground pipe gallery of the urban road.
Detailed Description
The invention provides a precise positioning method of a movable object of an underground pipe gallery, which comprises the following steps:
1) A signal transmitter is disposed in each compartment of the underground pipe gallery.
2) The signal receiver on the mobile object receives the AP signals transmitted by the signal transmitters in each cabin, and transmits the AP signals to the upper computer in a WIFI wireless mode.
3) And the upper computer collects signal data received by the signal receiver on the mobile object in unit time (for example, one minute), wherein the signal data comprises the AP signal intensity value and the number of the AP signals.
4) The upper computer determines the current cabin where the moving object is located according to the collected signal data, and the positioning of the moving object in the underground pipe gallery is completed, specifically:
4.1 The upper computer filters the collected signal data and reserves the signal data of which the AP signal strength value is larger than a preset AP signal strength threshold (for example, -85), wherein the signal strength threshold can be set according to actual conditions.
4.2 The upper computer counts the filtered signal data according to the pre-stored AP signals of the signal transmitters corresponding to the cabins, determines the cabin with the largest number of the AP signals, takes the cabin as the current cabin, and the mobile object is positioned in the current cabin.
4.3 If there are more cabins with the largest number of the AP signals, resetting the threshold value of the AP signal strength and entering the step 4.1) until the only cabins with the largest number of the signals are obtained.
In the step 1), a directional antenna may be further disposed in the underground pipe gallery, so as to increase the intensity of the AP signal.
Based on the accurate positioning method of the underground pipe gallery moving object, the invention further provides an accurate positioning system of the underground pipe gallery moving object, which comprises a signal transmitter and an upper computer, wherein a data acquisition module and a positioning module are arranged in the upper computer.
The signal transmitter is fixedly arranged in each cabin of the underground pipe gallery and is used for transmitting the AP signals outwards.
The data acquisition module is used for acquiring signal data received by a signal receiver on a mobile object in a unit time (for example, one minute) in a WIFI wireless mode, and the signal data comprises signal intensity values and signal numbers.
The positioning module is used for determining the current cabin where the moving object is located according to the collected signal data.
In a preferred embodiment, the positioning module comprises a threshold setting unit, a filtering unit and a positioning unit.
The threshold setting unit is used for presetting an AP signal strength threshold.
The filtering unit is used for filtering the collected signal data according to a preset AP signal intensity threshold value.
The positioning unit is used for counting the filtered signal data according to the pre-stored AP signals of the signal transmitters corresponding to the cabins, determining the cabin with the largest signal number, and taking the cabin as the current cabin where the mobile object is located.
In a preferred embodiment, directional antennas for increasing the signal strength of the AP are also provided within the underground utility tunnel.
The foregoing embodiments are only for illustrating the present invention, wherein the structures, connection modes, manufacturing processes, etc. of the components may be changed, and all equivalent changes and modifications performed on the basis of the technical solutions of the present invention should not be excluded from the protection scope of the present invention.
Claims (6)
1. The accurate positioning method of the underground pipe gallery moving object is characterized by comprising the following steps of:
1) A signal transmitter is arranged in each cabin of the underground pipe gallery;
2) The signal receiver on the mobile object receives the AP signals transmitted by the signal transmitters in each cabin and transmits the AP signals to the upper computer;
3) The method comprises the steps that an upper computer collects signal data received by a signal receiver on a mobile object in unit time, wherein the signal data comprise AP signal intensity values and the number of AP signals;
4) The upper computer determines the current cabin where the moving object is located according to the collected signal data, and the positioning of the moving object in the underground pipe gallery is completed, and the specific process is as follows:
4.1 The upper computer filters the collected signal data and retains the signal data of which the AP signal strength value is larger than a preset AP signal strength threshold value;
4.2 The upper computer counts the filtered signal data according to the pre-stored AP signals of the signal transmitters corresponding to the cabins, determines the cabin with the largest number of the AP signals, and takes the cabin as the current cabin where the mobile object is located;
4.3 If there are a plurality of cabins with the largest number of the AP signals, resetting the threshold value of the AP signal strength to enter the step 4.1) until the only cabins with the largest number of the AP signals are obtained.
2. The method for precisely positioning the movable object of the underground pipe gallery according to claim 1, wherein the signal receiver in the step 2) transmits the received signal to the upper computer in a WIFI wireless manner.
3. The method for precisely positioning the moving object in the underground pipe gallery according to claim 1, wherein the underground pipe gallery in the step 1) is further provided with a directional antenna for increasing the signal intensity of the AP.
4. The accurate positioning system for the movable object of the underground pipe gallery is characterized by comprising a signal transmitter and an upper computer, wherein a data acquisition module and a positioning module are arranged in the upper computer;
the signal transmitters are fixedly arranged in each cabin of the underground pipe gallery and are used for transmitting AP signals outwards;
the data acquisition module is used for acquiring signal data received by a signal receiver on a moving object in unit time, wherein the signal data comprises an AP signal intensity value and the number of AP signals;
the positioning module is used for determining a current cabin in which the moving object is located according to the collected signal data and comprises a threshold setting unit, a filtering unit and a positioning unit;
the threshold setting unit is used for presetting an AP signal strength threshold;
The filtering unit is used for filtering the collected signal data according to a preset AP signal strength threshold value;
The positioning unit is used for counting the filtered signal data according to the pre-stored AP signals of the signal transmitters corresponding to the cabins, determining the cabin with the largest number of the AP signals, and taking the cabin as the current cabin where the mobile object is located.
5. The system for precisely positioning a mobile object in an underground pipe gallery according to claim 4, wherein the signal receiver transmits the received signal to the upper computer in a WIFI wireless manner.
6. The accurate positioning system of a mobile object in an underground pipe rack of claim 4, wherein a directional antenna for increasing the AP signal strength is further provided in the underground pipe rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011228718.8A CN112379329B (en) | 2020-11-06 | 2020-11-06 | Accurate positioning method and system for underground pipe gallery moving object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011228718.8A CN112379329B (en) | 2020-11-06 | 2020-11-06 | Accurate positioning method and system for underground pipe gallery moving object |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112379329A CN112379329A (en) | 2021-02-19 |
| CN112379329B true CN112379329B (en) | 2024-04-23 |
Family
ID=74578807
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011228718.8A Active CN112379329B (en) | 2020-11-06 | 2020-11-06 | Accurate positioning method and system for underground pipe gallery moving object |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112379329B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105071878A (en) * | 2015-08-27 | 2015-11-18 | 中国科学院信息工程研究所 | Method of using wireless receipt signal to detect mobile entity |
| KR20160022095A (en) * | 2014-08-19 | 2016-02-29 | 엘지전자 주식회사 | Mobile terminal for determining indoor position using local area communication, method for controlling the mobile terminal, and server therefore |
| KR101653493B1 (en) * | 2015-02-24 | 2016-09-02 | 한양대학교 산학협력단 | Interlayer separation vehicle detection system in an indoor parking area using gsm |
| CN108111972A (en) * | 2017-12-15 | 2018-06-01 | 中国人民解放军战略支援部队信息工程大学 | Indoor WiFi Site Surveys method based on signal strength and space division |
| CN109115209A (en) * | 2018-07-20 | 2019-01-01 | 湖南格纳微信息科技有限公司 | Personnel positioning method and device in a kind of piping lane |
| CN109831741A (en) * | 2018-12-21 | 2019-05-31 | 泰华智慧产业集团股份有限公司 | Underground pipe gallery personnel location system |
| CN109874169A (en) * | 2017-12-01 | 2019-06-11 | 中冶长天国际工程有限责任公司 | A kind of localization method and system for Urban Underground pipe gallery |
-
2020
- 2020-11-06 CN CN202011228718.8A patent/CN112379329B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160022095A (en) * | 2014-08-19 | 2016-02-29 | 엘지전자 주식회사 | Mobile terminal for determining indoor position using local area communication, method for controlling the mobile terminal, and server therefore |
| KR101653493B1 (en) * | 2015-02-24 | 2016-09-02 | 한양대학교 산학협력단 | Interlayer separation vehicle detection system in an indoor parking area using gsm |
| CN105071878A (en) * | 2015-08-27 | 2015-11-18 | 中国科学院信息工程研究所 | Method of using wireless receipt signal to detect mobile entity |
| CN109874169A (en) * | 2017-12-01 | 2019-06-11 | 中冶长天国际工程有限责任公司 | A kind of localization method and system for Urban Underground pipe gallery |
| CN108111972A (en) * | 2017-12-15 | 2018-06-01 | 中国人民解放军战略支援部队信息工程大学 | Indoor WiFi Site Surveys method based on signal strength and space division |
| CN109115209A (en) * | 2018-07-20 | 2019-01-01 | 湖南格纳微信息科技有限公司 | Personnel positioning method and device in a kind of piping lane |
| CN109831741A (en) * | 2018-12-21 | 2019-05-31 | 泰华智慧产业集团股份有限公司 | Underground pipe gallery personnel location system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112379329A (en) | 2021-02-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102509366B (en) | Electronic patrol system | |
| CN103178616A (en) | Wireless-positioning-technology-based transformer substation intelligent forbidden zone management method | |
| CN103323813A (en) | Positioning system and positioning method of mine locomotive beacon | |
| CN110730417B (en) | Gun positioning system | |
| CN112379329B (en) | Accurate positioning method and system for underground pipe gallery moving object | |
| CN104951722A (en) | Hand-held terminal, interactive indoor tour-inspection system and interactive indoor positioning method | |
| CN109131909B (en) | Anti-collision system based on ADS-B | |
| CN105578592B (en) | A kind of device and system of fully-mechanized mining working personnel positioning | |
| CN109975753B (en) | Method for determining and accurately positioning distance measurement error of mine moving target | |
| CN115348539B (en) | Underground communication and positioning integrated system based on 5G+ | |
| CN109920228B (en) | Fully mechanized coal mining face remote control device with approaching sensing function | |
| CN102238536A (en) | Wireless real time location system and method | |
| CN210136294U (en) | Ground wire monitoring system based on UWB (ultra wide band) positioning | |
| CN209746775U (en) | Real-time security management system for dual-network communication dual-mode positioning | |
| CN112561019A (en) | Low-power-consumption electronic tag based on UWB method and positioning method | |
| CN207732797U (en) | A kind of monitoring positioning and communicating fusion substation of multi-protocols fusion | |
| CN104459616A (en) | Search-and-rescue positioning system for underground mine disaster | |
| CN114979937A (en) | Bluetooth positioning device and method, vehicle positioning system and method and vehicle | |
| CN104540165A (en) | Communication network monitoring system | |
| CN204331021U (en) | Positioning system is searched and rescued in the mine disaster of a kind of down-hole | |
| CN106033118A (en) | Coal mine downhole locomotive positioning method and system thereof | |
| CN204832505U (en) | Vehicular aviation management primary radar | |
| CN203350441U (en) | Mine locomotive beacon positioning system | |
| CN203721039U (en) | Vehicle positioning system | |
| KR101635182B1 (en) | Cable type access point and location monitoring system using the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |