CN114245310B - Underground multi-tag co-location method based on ultra-wideband technology and portable equipment - Google Patents

Abstract

The invention discloses an underground multi-tag co-location method based on ultra-wideband technology and portable equipment. The sensing unit monitors the health condition of the tag and the mine environment; the positioning unit measures the position of the tag, the ultra-wideband technology is used for improving the positioning precision, the feedback frame mechanism based on ADS-TWR is used, the weighted least square positioning algorithm is used, the improved Kalman filtering tracking algorithm is used, and the nonlinear wavelet threshold method is used for denoising; the processing display unit comprises a display and control management module, a battery management module, an alarm module, a data transmission module and a display module. Compared with the prior art, the invention has the advantages that: the grouping multi-label co-cooperation positioning method reduces noise and electromagnetic interference shadows, meets the requirements of high positioning accuracy, high reliability, high instantaneity and the like, and the equipped sensor can detect physical health of miners and mine environment in real time and ensure safety of underground operation.

Description

Underground multi-tag co-location method based on ultra-wideband technology and portable equipment

Technical Field

The invention relates to the technical field of synchronous positioning methods, in particular to an underground multi-tag cooperative positioning method based on an ultra-wideband technology and portable equipment.

Background

Currently, the underground positioning method mostly adopts novel devices such as radio frequency identification (Radio Frequency Identification, RFID), infrared (IR), wi-Fi, bluetooth and the like to position objects below mine tunnels. However, due to the complex environmental factors of mine roadways, such as high air humidity, high-level floating dust in the air and uncertainty caused by variable complex electromagnetic interference, the resistance to multipath weakening is low, the influence on positioning accuracy is large, and meanwhile, the physical health of miners and the mine tunnel environment cannot be detected in real time so as to ensure the safety of underground operation.

Disclosure of Invention

The invention aims to overcome the technical defects, and provides an underground multi-tag cooperative positioning method and portable equipment based on an ultra-wideband technology, which adopt a positioning method of grouping multi-tag cooperative, reduce noise and electromagnetic interference shadows, meet the requirements of high accuracy, high reliability, high instantaneity and the like of the positioning technology, and the equipped sensor can detect the physical health of miners and the mine environment in real time and ensure the safety of underground operation.

In order to solve the technical problems, the technical scheme provided by the invention is as follows: a portable device for mine multi-tag co-location based on ultra-wideband technology comprises a sensing unit, a locating unit and a processing display unit.

The sensing unit monitors the health condition of the tag and the environment of the mine channel, the detected parameters of the health condition of the tag comprise the acceleration, the blood pressure, the blood oxygen concentration, the heart rate and the body temperature of the tag, and the parameters of the environment of the mine channel comprise the air pressure, the humidity, the carbon monoxide concentration and the gas;

the positioning unit measures the position of the tag, the ultra-wideband technology is used for improving the positioning precision, an ADS-TWR-based feedback frame mechanism is used, a weighted least square positioning algorithm is used, an improved Kalman filtering tracking algorithm is used, and a nonlinear wavelet threshold method is used for denoising;

the processing display unit comprises a display and control management module, a battery management module, an alarm module, a data transmission module and a display module, and is used for processing the data generated by the positioning unit and the sensing unit and completing communication with other tags or base stations.

A positioning method of portable equipment for mine multi-tag co-positioning based on ultra-wideband technology comprises the following steps:

step one: firstly, initializing the position of a label according to the distance between the label and a base station;

step two: dividing all the labels into a plurality of groups with relatively concentrated relative positions by a base station and designating group length labels;

step three: the group length tag cooperates with other tags in the group to mutually measure distance to complete a relative position diagram of the tags in the group;

step four: collecting state data of other tags in the group by the group leader tag, and uploading the state data to the base station together with the relative position diagram;

step five: the base station adjusts the label group or reassigns the group length label according to the position of the current label;

step six: and the server maps the worker activity diagram according to the label position and the state data uploaded by the base station and monitors whether the state of the worker activity diagram is abnormal.

The data communication method based on ultra wideband signals is used in the tag group and between the tag and the base station, and the data communication method based on optical fibers and Wi-Fi is used among the base station, the server and the monitoring center.

Step one, initializing tags, namely initially measuring the positions of all the tags in the mine range, grouping the tags and designating group length tags, preparing for collecting tag states for subsequent grouping, measuring the distance between each tag and a base station by using an ADS-TWR-based backhaul frame mechanism, and initializing the positions of the tags, wherein the process is as follows: firstly, broadcasting a polling frame to all base stations by a tag, and after receiving a response frame of the base station, considering that communication is successfully established; then, the tag sends a positioning frame to all the base stations which successfully establish communication again, the base stations can measure the distance of the tag and judge the position of the tag according to the distance information;

the method is characterized in that a mode of grouping based on the relative positions of the labels is used, a plurality of labels with relatively close positions are divided into a group, state information of each group of labels is managed by the same base station, the number of the labels in the group is not excessive, and the group exceeding a threshold value is divided into a plurality of groups;

the labels in the center position in the same group of labels are designated as group leader labels in a manner of minimizing the variance based on the relative position of the labels. Because of complex mine environment factors, communication is unstable, each group will be assigned a plurality of group leader tags, and each group leader will perform the group locating work individually.

The label state collection is to collect the current state of labels in groups, and upload to the base station after the statistics and arrangement of labels in groups;

using a back transmission frame mechanism based on ADS-TWR to measure the distance between the group leader tag and each group leader tag, wherein each group leader tag is a group leader of other group leader tags at the same time due to the fact that a plurality of group leader exist in each group;

after the distance measurement task is completed, the group leader tag collects and counts state data of each group member tag, wherein the state data comprises heart rate, temperature, air pressure, humidity, gas and carbon monoxide values, the position and state information of each group member tag are stored in a database of the group leader tag in the form of < key, value >, wherein key is tag number, and value is Json data formed by the position and state information of the key;

using ultra-wideband technology, the group leader tag uploads the collected tag state to the corresponding base station;

if there is a single tag timeout and no request signal is received for any group leader tag, the tag is deemed lost and initialization of the tag will be re-performed.

The tag state processing is to process the tag position and state information collected by the grouping to obtain the actual position of each tag under the mine, and judge whether the tag is in a normal underground operation state at present;

judging the relative position of each group of labels by using a mode of grouping based on the relative positions of the labels, if the labels in the group are moved to positions deviating from other labels in the group, grouping the labels again, and meanwhile, if the group length labels are moved to positions deviating from the center of the group, reassigning the group length labels;

and using ultra-wideband technology, the base station sorts the label state of each group in the area and uploads the label state to the server. For the label states collected by a plurality of group leader labels in the same group, if the error does not exceed a threshold value, adopting the latest received data; if the error exceeds the threshold, the group leader label is required to carry out label state collection again;

and if the label state data uploaded by the base station is received by the server, the current activity diagram of the underground operator is drawn, whether the current physical health data and the environment data of the operator are abnormal or not is monitored, and if the current physical health data and the environment data are abnormal, a warning is sent out.

Compared with the prior art, the invention has the advantages that: 1. the system has the advantages that the system provides the functions of positioning and detecting the physical health parameters and the environmental parameters, meets the requirements of underground operators, and can guarantee the safety of underground operation in real time;

2. aiming at the problems of complex underground environment factors and insufficient positioning precision, a plurality of algorithms are adopted in a positioning unit of the portable equipment, so that the positioning precision is improved, and errors caused by environment noise and hardware equipment are reduced;

3. the method adopts a mode of mutual ranging of the labels in the group, and the influence of noise is smaller because the relative positions of the labels in the group are closer, so that the positioning accuracy is further improved. Meanwhile, the method completes group positioning by the group leader label, so that the calculation load of the server is reduced;

4. the positioning method of the grouping multi-label co-cooperation ensures that if a single label is accidentally damaged, the position of the single label can still be estimated through the cache in the group leader label;

5. the ultra-wideband technology is adopted in the tag group and in the communication between the tag and the base station, so that the communication is more stable, the positioning precision is higher, and the bandwidth utilization rate is also improved by the mode of uniformly uploading data by a few tags.

Drawings

Fig. 1 is a block diagram of a method for co-locating multiple tags under a mine and a portable device based on ultra wideband technology according to the present invention.

Fig. 2 is a scheme flow chart of a method for co-locating multiple tags under a mine and a portable device based on ultra-wideband technology.

Fig. 3 is a communication flow chart of a method for co-locating multiple tags under a mine and a portable device based on ultra wideband technology.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The invention discloses a portable device for multi-tag co-location under a mine based on ultra-wideband technology, which comprises a sensing unit, a locating unit and a processing display unit, wherein the location, the physical health parameters and the mine environment parameters of a tag are detected and uploaded.

The sensing unit monitors the health condition of the tag and the environment of the mine channel, the detected parameters of the health condition of the tag comprise the acceleration, the blood pressure, the blood oxygen concentration, the heart rate and the body temperature of the tag, and the parameters of the environment of the mine channel comprise the air pressure, the humidity, the carbon monoxide concentration and the gas;

the positioning unit measures the position of the tag, and the ultra-wideband technology is used for improving the positioning precision;

and using an ADS-TWR-based backhaul frame mechanism, measuring the average propagation time of UWB signals between two nodes according to the distance between the measuring node and the tag, and then calculating the distance between the nodes according to the propagation rate of the signals.

The method comprises the steps of using a weighted least square positioning algorithm, taking the node position with the smallest difference between the measured distance and the estimated distance as the direction of an unknown node, calculating the position coordinates of the unknown node by using a mathematical observation value model, and adding a weight matrix based on the observation errors because the observation errors of each node are different.

The improved Kalman filter tracking algorithm is used, and the Sage-Husa algorithm is applied to a classical Kalman filter, so that the filter has a self-adaptive filtering function, can track the change of noise in real time, and further corrects the parameters of the filter on line.

The method is characterized in that a nonlinear wavelet threshold method is used for denoising, ranging noise is extracted, a wavelet threshold is improved to improve signal smoothness, a composite evaluation index weight is designed according to a triangular fuzzy number to determine an optimal wavelet decomposition scale, and ranging errors caused by multipath propagation and non-line-of-sight interference in the UWB signal propagation process can be reduced.

The processing display unit comprises a display and control management module, a battery management module, an alarm module, a data transmission module and a display module, and is used for processing the data generated by the positioning unit and the sensing unit and completing communication with other tags or base stations.

A positioning method of portable equipment for mine multi-tag co-positioning based on ultra-wideband technology comprises the following steps:

step one: firstly, initializing the position of a label according to the distance between the label and a base station;

step two: dividing all the labels into a plurality of groups with relatively concentrated relative positions by a base station and designating group length labels;

step three: the group length tag cooperates with other tags in the group to mutually measure distance to complete a relative position diagram of the tags in the group;

step four: collecting state data of other tags in the group by the group leader tag, and uploading the state data to the base station together with the relative position diagram;

step five: the base station adjusts the label group or reassigns the group length label according to the position of the current label;

step six: and the server maps the worker activity diagram according to the label position and the state data uploaded by the base station and monitors whether the state of the worker activity diagram is abnormal.

Tag group internal communication

A data communication method based on ultra-wideband signals is used, positioning signals are transmitted between the group leader tag and each group member tag, and the group member tag transmits physiological parameter and environmental parameter data to the group leader tag.

Tag to base station communication

A data communication method based on ultra-wideband signals is used, the position of a tag is initialized, a responsible base station designates a group leader tag, and the group leader tag uploads the collected intra-group tag data to the responsible base station.

Base station-server-monitoring center communication

And the base station uploads the data in the collected area to a server, and the server feeds the calculated data back to a monitoring center and uploads the data to a cloud backup.

Step one, initializing tags, namely initially measuring the positions of all the tags in the mine range, grouping the tags and designating group length tags, preparing for collecting tag states for subsequent grouping, measuring the distance between each tag and a base station by using an ADS-TWR-based backhaul frame mechanism, and initializing the positions of the tags, wherein the process is as follows: firstly, broadcasting a polling frame to all base stations by a tag, and after receiving a response frame of the base station, considering that communication is successfully established; then, the tag sends a positioning frame to all the base stations which successfully establish communication again, the base stations can measure the distance of the tag and judge the position of the tag according to the distance information;

the method is characterized in that a mode of grouping based on the relative positions of the labels is used, a plurality of labels with relatively close positions are divided into a group, state information of each group of labels is managed by the same base station, the number of the labels in the group is not excessive, and the group exceeding a threshold value is divided into a plurality of groups;

the labels in the center position in the same group of labels are designated as group leader labels in a manner of minimizing the variance based on the relative position of the labels. Because of complex mine environment factors, communication is unstable, each group will be assigned a plurality of group leader tags, and each group leader will perform the group locating work individually.

The label state collection is to collect the current state of labels in groups, and upload to the base station after the statistics and arrangement of labels in groups;

using a back transmission frame mechanism based on ADS-TWR to measure the distance between the group leader tag and each group leader tag, wherein each group leader tag is a group leader of other group leader tags at the same time due to the fact that a plurality of group leader exist in each group;

after the distance measurement task is completed, the group leader tag collects and counts state data of each group member tag, wherein the state data comprises heart rate, temperature, air pressure, humidity, gas and carbon monoxide values, the position and state information of each group member tag are stored in a database of the group leader tag in the form of < key, value >, wherein key is tag number, and value is Json data formed by the position and state information of the key;

using ultra-wideband technology, the group leader tag uploads the collected tag state to the corresponding base station;

if there is a single tag timeout and no request signal is received for any group leader tag, the tag is deemed lost and initialization of the tag will be re-performed.

The tag state processing is to process the tag position and state information collected by the grouping to obtain the actual position of each tag under the mine, and judge whether the tag is in a normal underground operation state at present;

judging the relative position of each group of labels by using a mode of grouping based on the relative positions of the labels, if the labels in the group are moved to positions deviating from other labels in the group, grouping the labels again, and meanwhile, if the group length labels are moved to positions deviating from the center of the group, reassigning the group length labels;

and using ultra-wideband technology, the base station sorts the label state of each group in the area and uploads the label state to the server. For the label states collected by a plurality of group leader labels in the same group, if the error does not exceed a threshold value, adopting the latest received data; if the error exceeds the threshold, the group leader label is required to carry out label state collection again;

and if the label state data uploaded by the base station is received by the server, the current activity diagram of the underground operator is drawn, whether the current physical health data and the environment data of the operator are abnormal or not is monitored, and if the current physical health data and the environment data are abnormal, a warning is sent out.

The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.

Claims (4)

1. The utility model provides a portable equipment of multi-label co-location under mine based on ultra wide band technique which characterized in that: the device comprises a sensing unit, a positioning unit and a processing display unit;

the sensing unit monitors the health condition of the tag and the environment of the mine channel, the detected parameters of the health condition of the tag comprise the acceleration, the blood pressure, the blood oxygen concentration, the heart rate and the body temperature of the tag, and the parameters of the environment of the mine channel comprise the air pressure, the humidity, the carbon monoxide concentration and the gas;

the positioning unit measures the position of the tag, the ultra-wideband technology is used for improving the positioning precision, an ADS-TWR-based feedback frame mechanism is used, a weighted least square positioning algorithm is used, an improved Kalman filtering tracking algorithm is used, and a nonlinear wavelet threshold method is used for denoising;

the processing display unit comprises a display and control management module, a battery management module, an alarm module, a data transmission module and a display module, and is used for processing the data generated by the positioning unit and the sensing unit and completing communication with other tags or base stations;

a positioning method of portable equipment for mine multi-tag co-positioning based on ultra-wideband technology comprises the following steps:

step one: firstly, initializing the position of a label according to the distance between the label and a base station;

step two: dividing all the labels into a plurality of groups with relatively concentrated relative positions by a base station and designating group length labels;

step three: the group length tag cooperates with other tags in the group to mutually measure distance to complete a relative position diagram of the tags in the group;

step four: collecting state data of other tags in the group by the group leader tag, and uploading the state data to the base station together with the relative position diagram;

step five: the base station adjusts the label group or reassigns the group length label according to the position of the current label;

step six: the server maps the worker activity diagram according to the label position and the state data uploaded by the base station and monitors whether the state of the worker activity diagram is abnormal;

the label state collection is to collect the current state of labels in groups, and upload to the base station after the statistics and arrangement of labels in groups;

using a back transmission frame mechanism based on ADS-TWR to measure the distance between the group leader tag and each group leader tag, wherein each group leader tag is a group leader of other group leader tags at the same time due to the fact that a plurality of group leader exist in each group;

after the distance measurement task is completed, the group leader tag collects and counts state data of each group member tag, wherein the state data comprises heart rate, temperature, air pressure, humidity, gas and carbon monoxide values, the position and state information of each group member tag are stored in a database of the group leader tag in the form of < key, value >, wherein key is tag number, and value is Json data formed by the position and state information of the key;

using ultra-wideband technology, the group leader tag uploads the collected tag state to the corresponding base station;

if there is a single tag timeout and no request signal is received for any group leader tag, the tag is deemed lost and initialization of the tag will be re-performed.

2. The method for positioning the portable device for the under-mine multi-tag co-positioning based on the ultra-wideband technology according to claim 1, wherein the method comprises the following steps: the data communication method based on ultra wideband signals is used in the tag group and between the tag and the base station, and the data communication method based on optical fibers and Wi-Fi is used among the base station, the server and the monitoring center.

3. The method for positioning the portable device for the under-mine multi-tag co-positioning based on the ultra-wideband technology according to claim 1, wherein the method comprises the following steps: step one, initializing tags, namely initially measuring the positions of all the tags in the mine range, grouping the tags and designating group length tags, preparing for collecting tag states for subsequent grouping, measuring the distance between each tag and a base station by using an ADS-TWR-based backhaul frame mechanism, and initializing the positions of the tags, wherein the process is as follows: firstly, broadcasting a polling frame to all base stations by a tag, and after receiving a response frame of the base station, considering that communication is successfully established; then, the tag sends a positioning frame to all the base stations which successfully establish communication again, the base stations can measure the distance of the tag and judge the position of the tag according to the distance information;

the method is characterized in that a mode of grouping based on the relative positions of the labels is used, a plurality of labels with relatively close positions are divided into a group, state information of each group of labels is managed by the same base station, the number of the labels in the group is not excessive, and the group exceeding a threshold value is divided into a plurality of groups;

the method is characterized in that a label in the center position in the same group of labels is designated as a group leader label by using a mode of minimizing the variance of the relative position of the labels, and each group is designated with a plurality of group leader labels because of complex mine environment factors and unstable communication, and each group leader is used for independently completing grouping positioning work.

4. The method for positioning the portable device for the under-mine multi-tag co-positioning based on the ultra-wideband technology according to claim 1, wherein the method comprises the following steps: the tag state processing is to process the tag position and state information collected by the grouping to obtain the actual position of each tag under the mine, and judge whether the tag is in a normal underground operation state at present;

judging the relative position of each group of labels by using a mode of grouping based on the relative positions of the labels, if the labels in the group are moved to positions deviating from other labels in the group, grouping the labels again, and meanwhile, if the group length labels are moved to positions deviating from the center of the group, reassigning the group length labels;

using ultra-wideband technology, the base station sorts the label state of each group in the area and uploads the label state to the server, and if the error does not exceed the threshold value, the latest received data is adopted for the label states collected by a plurality of group leader labels in the same group; if the error exceeds the threshold, the group leader label is required to carry out label state collection again;

and if the label state data uploaded by the base station is received by the server, the current activity diagram of the underground operator is drawn, whether the current physical health data and the environment data of the operator are abnormal or not is monitored, and if the current physical health data and the environment data are abnormal, a warning is sent out.