CN116506801A - UWB-based underground coal mine accurate positioning method - Google Patents
UWB-based underground coal mine accurate positioning method Download PDFInfo
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- CN116506801A CN116506801A CN202310489253.9A CN202310489253A CN116506801A CN 116506801 A CN116506801 A CN 116506801A CN 202310489253 A CN202310489253 A CN 202310489253A CN 116506801 A CN116506801 A CN 116506801A
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- 230000008569 process Effects 0.000 claims description 7
- 230000004044 response Effects 0.000 claims description 7
- 230000035945 sensitivity Effects 0.000 claims description 3
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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
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
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- H04W8/02—Processing of mobility data, e.g. registration information at HLR [Home Location Register] or VLR [Visitor Location Register]; Transfer of mobility data, e.g. between HLR, VLR or external networks
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Abstract
The invention belongs to the technical field of underground coal mine positioning, and particularly relates to an underground coal mine accurate positioning method based on UWB.
Description
Technical Field
The invention belongs to the technical field of underground coal mine positioning, and particularly relates to an underground coal mine accurate positioning method based on UWB.
Background
With the current technical development, the underground coal mine personnel management system is currently in the mainstream stage of upgrading and upgrading the RFID region positioning technology to the UWB accurate positioning technology.
The algorithm of the UWB accurate positioning technology is mainly realized through three positioning modes of TOF, TDoA and AoA. The first two are usually used alone, whereas AoA is usually fusion localized with ToF or TDoA.
In the application level of the system, the TDoA needs a time synchronization mechanism with extremely high accuracy (the error is less than 1 ns), and is generally suitable for two-dimensional and three-dimensional positioning of wide indoor environments such as garages, shopping malls and the like on the ground. In underground coal mines and tunnels, due to the unique structural shape, the method is more suitable for one-dimensional positioning realized based on TOF, and compared with TDoA, TOF has the advantages of simpler and reliable technical realization means and simpler system hardware equipment requirements.
However, at the same time, the TOF has obvious drawbacks, namely, the number of distance measurement interactions is large, and the wearable device needs to consume more electric energy and occupy more wireless concurrency time. Namely, TOF locates by measuring the propagation time of signals between the mobile terminal and three or more base stations respectively, is a bidirectional active locating mode, and basically adopts 3 interactions between each mobile terminal and the base stations in the coverage range of peripheral signals to conduct distance measurement. If multiple base stations exist in the same area, the consumed battery energy will be significantly increased. In the same area, under the condition of the existence of the multi-label module, the occupation of wireless concurrency channels is obviously increased. The ranging disadvantage based on TOF provides a method for greatly reducing the electricity consumption and the occupation of wireless concurrency channels in the whole wireless environment under the condition of not reducing the number of the simultaneous positioning base stations.
Disclosure of Invention
Based on the problems mentioned in the background art, the invention provides a coal mine underground accurate positioning method based on UWB.
The technical scheme adopted by the invention is as follows: the underground coal mine accurate positioning method based on UWB comprises a plurality of tag modules and a plurality of base station modules, wherein the numbers of the base station modules are recorded as a base station module 1 and a base station module 2 and …, the base station modules are distributed according to the base station modules in a unique mark and a time segment, the tag modules are in the time segment distributed by the base station modules and initiate a data request to the base station modules at the same time, the base station modules receive and answer the data request, and initiate the response again after receiving the answer, and the base station modules perform distance measurement calculation work;
the positioning calculation process is as follows:
step S1: the tag module sends a data packet A to a plurality of base station modules simultaneously;
step S2: after receiving the data packet A, the base station modules reply data packets B to the tag modules in sequence according to the queue information in the data packet A, and the data packets B are marked as Bn and n is greater than 0, wherein n is the number of the corresponding base station module;
step S3: after receiving the data packet B, the tag module sends the data packet C to a plurality of base station modules at the same time;
step S4: after receiving the data packet C, the base station module calculates a corresponding ranging result L through A, bn and C, and marks Ln, n >0, wherein n is the number of the corresponding base station module, and L is the ranging result of the tag module and the corresponding base station module;
step S5: and repeating the step S1' S4 to obtain a new distance measurement result L which is marked as Lnm according to the movement of the label module.
Further, in the step S2, the base station module replies that the data packet B includes the last calculation result of L, which is denoted as Lnm-1.
Further, in the step S3, the tag module adjusts the transmission time of the data packet C according to the data packet B, and the transmission steps are as follows: step S31: the label module wakes up at default timing and sends a data packet C to the base station module; step S32: judging whether the last ranging information Lnm-1 of the base station module is received or not, if the last ranging information is not received, returning to the step S31, and if the last ranging information is received, executing the step S33; step S33: the tag module calculates the current speed according to the last ranging information Lnm-1 of the base station module and obtains the next wake-up time.
Further, the default wake-up frequency of the tag module in step S31 is 2 seconds/time.
Further, the next wake-up frequency of the tag module in the step S33 is 0.5 seconds/time to 5 seconds/time.
Further, when the moving speed of the tag module is V m/s, the wake-up frequency is F seconds/time, and the logic relationship v×f=β is satisfied, where β is a sensitivity coefficient that can be set by the system.
Further, the base station modules are installed in the underground roadway in a back-to-back mode or an equidistant mode.
The invention has the beneficial effects that:
1. because of parallel ranging, compared with the conventional algorithm, when the base station module is more than one, the data interaction times are effectively saved, a plurality of ranging results are obtained at the same time, but the results are obtained in sequence in the conventional algorithm, and the overall ranging efficiency is improved.
2. Secondly, the automatic adjustment wake-up time of the designed tag module is compared with the traditional compromise wake-up mode, so that the positioning density can be ensured and the power consumption is greatly saved (namely, the wake-up frequency is lower) when most underground personnel are in a static or walking state.
Drawings
The invention can be further illustrated by means of non-limiting examples given in the accompanying drawings;
FIG. 1 is a schematic diagram of the operation of a tag module and a base station module according to the present invention;
FIG. 2 is a schematic diagram of the operation of a conventional TOF ranging method tag module and a base station module;
FIG. 3 is a schematic diagram illustrating the operation of the tag module of the present invention;
FIG. 4 is a schematic diagram showing the movement speed and wake-up frequency of a tag module according to the present invention;
FIG. 5 is a range calculation formula according to the present invention;
Detailed Description
As shown in fig. 1 to 5, the underground coal mine accurate positioning method based on UWB comprises a plurality of tag modules and a plurality of base station modules, wherein the numbers of the base station modules are recorded as a base station module 1 and a base station module 2 and …, the unique marks and time slice allocation are carried out among the tag modules according to the base station modules, the tag modules initiate data requests to the base station modules in the time slice allocation of the base station modules, the base station modules accept and answer, and initiate responses again after accepting the answers, and the base station modules carry out distance measurement calculation work;
the positioning calculation process is as follows:
step S1: the tag module sends a data packet A to a plurality of base station modules simultaneously;
step S2: after receiving the data packet A, the base station modules reply data packets B to the tag modules in sequence according to the queue information in the data packet A, and the data packets B are marked as Bn and n is greater than 0, wherein n is the number of the corresponding base station module;
step S3: after receiving the data packet B, the tag module sends the data packet C to a plurality of base station modules at the same time;
step S4: after receiving the data packet C, the base station module calculates a corresponding ranging result L through A, bn and C, and marks Ln, n >0, wherein n is the number of the corresponding base station module, and L is the ranging result of the tag module and the corresponding base station module;
step S5: and repeating the step S1' S4 to obtain a new distance measurement result L which is marked as Lnm according to the movement of the label module.
By adopting the technical scheme, through parallel ranging, the unique marks and the time segment distribution are carried out among the plurality of tag modules according to the base station modules covered by the wireless signals in the actual environment, compared with the conventional algorithm, when the number of the base station modules is more than one, the data interaction times are effectively saved, the power consumption of the tag modules is reduced, a plurality of ranging results are obtained at the same time, and the results are obtained in sequence in the conventional algorithm instead of the conventional algorithm, so that the overall ranging efficiency is also improved.
Preferably, in the step S2, the base station module replies that the data packet B includes the last calculation result of L, which is denoted as Lnm-1.
In a preferred embodiment, in the step S3, the tag module adjusts the transmission time of the data packet C according to the data packet B, and the transmission steps are as follows: step S31: the label module wakes up at default timing and sends a data packet C to the base station module; step S32: judging whether the last ranging information Lnm-1 of the base station module is received or not, if the last ranging information is not received, returning to the step S31, and if the last ranging information is received, executing the step S33; step S33: the tag module calculates the current speed according to the last ranging information Lnm-1 of the base station module and obtains the next wake-up time. Through the steps, the adaptation of the moving speed and the awakening frequency is realized, the awakening frequency is reduced when the moving speed is reduced, the awakening frequency is reduced to the minimum when the mobile speed is kept still, the energy consumption is effectively reduced, and the battery endurance time is prolonged.
Preferably, the default wake-up frequency of the tag module in step S31 is 2 seconds/time. Each time 2 seconds is an initial wake-up frequency, so that a compromise scheme of the maximum displacement speed and the energy consumption is facilitated, and the subsequent wake-up frequency is adaptively adjusted according to the received ranging information.
Preferably, the next wake-up frequency of the tag module in the step S33 is 0.5 seconds/time to 5 seconds/time. And carrying out adaptive adjustment according to the received ranging information, adapting to the displacement speed to the greatest extent, and reducing the energy consumption.
As a preferable scheme, when the moving speed of the tag module is V meters per second, the wake-up frequency is F seconds per time, and the logic relationship v×f=β is satisfied, where β is a sensitivity coefficient that can be set by the system. E.g. set β=2. When v=1 m/s, the wake-up frequency is 2 seconds/time; when v=2m/s, the wake-up frequency is 1 second/time.
Preferably, the base station modules are installed in the underground roadway in a back-to-back mode or an equidistant mode. The program algorithm automatically recognizes and calculates two or more base stations of the label coordinates, and can generate coordinate data by receiving the label data at the same time.
The working mode of the invention is as follows:
as shown in fig. 1, when in use, the tag module realizes ranging with 3 base station modules, and the tag module sends out 2 packets of data and receives 5 packets of data, which are the B1, B2 and B3 packets of data.
Compared with the conventional TOF ranging method (shown in fig. 2), under the condition that 3 base station signals are covered around, the tag module respectively ranges with the base station module 1, the base station module 2 and the base station module 3, each base station needs to perform A, B, C total 3 times of data interaction, and the total of 3x3 = 9 times of data interaction is required to be transmitted and received. After optimization of the multi-base station parallel ranging algorithm, the tag module performs 5 times of data interaction with 3 base stations. In contrast, approximately 44% of energy consumption wireless concurrent resource occupancy is saved.
Under the condition that 2 base station signals are covered on the periphery, the tag module N respectively measures distance with the base station module 1 and the base station module 2, each base station needs to perform A, B, C total 3 times of data interaction, and total 2x3 = 6 times of data interaction are needed to be transmitted and received. After optimization of the multi-base station parallel ranging algorithm, the label module performs 4 times of data interaction with 2 base stations. In contrast, approximately 33% of energy consumption wireless concurrent resource occupancy is saved.
In the case of 1 base station signal coverage around, the tag module N performs ranging with the base station module 1, and A, B, C times of data interaction are required. After optimization of the multi-base-station parallel ranging algorithm, the tag module performs 3 times of data interaction with 1 base station. In contrast, energy consumption is consistent with wireless concurrent resource occupancy.
However, in actual one-dimensional positioning, at least 2 base stations need to perform data interaction ranging to realize one-dimensional positioning, and under the condition of complex road scenes, the number of the base stations needs to be properly increased to improve the positioning accuracy and even the dimension, so that the actual use process can be seen, and the optimization algorithm plays an obvious role.
In fig. 5, the calculation formula of L is shown, deviceA is a tag module, deviceB is a base station module, db is a delay of response ranging and information processing returned by the base station module, ra is a round trip delay of information calculated after the tag module receives the response information, da is a delay of response ranging and information processing returned by the tag module, rb is a round trip delay of information calculated after the base station module receives the response information, and then distance is calculated according to the speed of light, so as to realize ranging between the tag module and the base station module.
Secondly, the relation between the dormancy wakeup frequency and the moving speed of the conventional label module is shown in fig. 4, the label module adopts a mode of fixed wakeup time, and is irrelevant to the vehicle speed, and in order to consider the maximum displacement speed and the energy consumption, a compromise scheme is generally adopted for setting the wakeup frequency, so that both ends cannot be thoroughly considered.
In the interactive ranging process of the tag module N and the base station module, the base station module repliesWhen the data packet B is used, the data contains the last calculation result L nm-1 . After receiving the information, the tag module N can calculate the distance change information in the previous distance measurement, and calculate the moving state and the moving speed of the current tag module by combining the time change value, and the tag module decides the time interval of the next awakening according to the moving speed.
In the parallel ranging process, the slower the moving speed of the tag module is, the lower the positioning frequency is, and in the actual use process, as the application product is carried by underground personnel in a coal mine during the underground work, most of the tag module is in a state of standing or the walking speed of the personnel (5 km/h) and the least time is in a state of taking a vehicle. Therefore, the invention ensures the reliable positioning density and simultaneously greatly saves the power consumption.
The present invention has been described in detail above. The description of the specific embodiments is only intended to aid in understanding the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (7)
1. The underground coal mine accurate positioning method based on UWB is characterized by comprising the following steps of: the system comprises a plurality of tag modules and a plurality of base station modules, wherein the numbers of the base station modules are recorded as a base station module 1 and a base station module 2 and …, the base station modules are distributed according to the base station modules in a uniqueness mark and a time segment, the tag modules initiate data requests to the base station modules in the time segment distributed by the base station modules, the base station modules accept and answer, the tag modules initiate responses again after accepting the answers, and the base station modules perform distance measurement calculation work;
the positioning calculation process is as follows:
step S1: the tag module sends a data packet A to a plurality of base station modules simultaneously;
step S2: after receiving the data packet A, the base station modules reply data packets B to the tag modules in sequence according to the queue information in the data packet A, and the data packets B are marked as Bn and n is greater than 0, wherein n is the number of the corresponding base station module;
step S3: after receiving the data packet B, the tag module sends the data packet C to a plurality of base station modules at the same time;
step S4: after receiving the data packet C, the base station module calculates a corresponding ranging result L through A, bn and C, and marks Ln, n >0, wherein n is the number of the corresponding base station module, and L is the ranging result of the tag module and the corresponding base station module;
step S5: and repeating the step S1' S4 to obtain a new distance measurement result L which is marked as Lnm according to the movement of the label module.
2. The UWB-based coal mine underground accurate positioning method of claim 1, wherein: in the step S2, the base station module replies that the data packet B includes the last calculation result of L, which is denoted as Lnm-1.
3. The UWB-based coal mine underground accurate positioning method of claim 2, wherein: in the step S3, the tag module adjusts the sending time of the data packet C according to the data packet B, and the sending steps are as follows:
step S31: the label module wakes up at default timing and sends a data packet C to the base station module;
step S32: judging whether the last ranging information Lnm-1 of the base station module is received or not, if the last ranging information is not received, returning to the step S31, and if the last ranging information is received, executing the step S33;
step S33: the tag module calculates the current speed according to the last ranging information Lnm-1 of the base station module and obtains the next wake-up time.
4. A UWB-based coal mine downhole accurate positioning method of claim 3, wherein: the default wake-up frequency of the tag module in step S31 is 2 seconds/time.
5. The UWB based coal mine underground accurate positioning method according to claim 4, wherein the method comprises the following steps: the next wake-up frequency of the tag module in the step S33 is 0.5 seconds/time to 5 seconds/time.
6. The UWB based coal mine underground accurate positioning method according to claim 5, wherein the method comprises the following steps: when the moving speed of the tag module is V meters per second, the wake-up frequency is F seconds per time, and the logic relationship v×f=β is satisfied, where β is a sensitivity coefficient that can be set by the system.
7. The UWB based coal mine underground accurate positioning method according to claim 6, wherein the method comprises the following steps: and the base station modules are arranged at intervals along the underground roadway.
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| CN113286360A (en) * | 2021-05-12 | 2021-08-20 | 重庆菲莫科技有限公司 | Underground mining UWB positioning system and positioning method |
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