CN103152822A - APIT (Any Point In Time)-based underground coal mine personnel positioning method - Google Patents
APIT (Any Point In Time)-based underground coal mine personnel positioning method Download PDFInfo
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- CN103152822A CN103152822A CN2013100591011A CN201310059101A CN103152822A CN 103152822 A CN103152822 A CN 103152822A CN 2013100591011 A CN2013100591011 A CN 2013100591011A CN 201310059101 A CN201310059101 A CN 201310059101A CN 103152822 A CN103152822 A CN 103152822A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000003245 coal Substances 0.000 title claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000004807 localization Effects 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 3
- 210000002837 heart atrium Anatomy 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000007476 Maximum Likelihood Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Abstract
The invention relates to an APIT (Any Point In Time)-based underground coal mine personnel positioning method, which comprises the following steps of: obtaining distances between every two of three beacon nodes by using a distance formula according to known positional information on three beacon nodes for forming a triangle; obtaining distances from the three beacon nodes to a mobile node through a TOA (Time of Arrival) distance measuring algorithm; calculating the angle value of a vertex angle of the triangle formed by the beacon nodes and angle values of included angles formed by the mobile node and the beacon nodes according to a cosine law; and if the angle values of the included angles of the mobile node and the beacon nodes are all less than the value of the vertex angle of the triangle, determining that a person is in the triangle formed by the beacon nodes, and otherwise, determining that the person is outside the triangle formed by the beacon nodes. According to the method, the misjudgment of a PIT detection principle is excellently improved, and the mobile node is not required to move along a certain direction; and the method has operability and less amount of calculation.
Description
Technical field
The present invention relates to coal mine downhole safety monitoring and the communications field, relate in particular to a kind of coal mine down-hole personnel localization method based on APIT.
Background technology
underground personnel positioning method has much at present, be divided into based on range finding with based on two types of non-range findings, the range finding aspect mainly contains based on the TOA time of advent, based on the poor TDOA time of advent, arrive the methods such as intensity RSSI based on arrival angle AOA with based on power, measuring beaconing nodes according to above-mentioned principle then utilizes different algorithms to realize the location from the distance between mobile node, these algorithms mainly contain trilateration, triangulation, Maximum Likelihood Estimation Method, the minimax location algorithm, they all are based on the localization method that calculates how much, but amount of calculation is all larger, the beaconing nodes quantity that Maximum Likelihood Estimation Method and minimax location algorithm need is many, cost is high.
it is the condition of utilizing the electromagnetic wave emission rate known based on the TOA range measurement principle, the time of advent that the beaconing nodes that receives according to mobile node transmits, the speed time of multiply by obtains the distance between mobile node and beaconing nodes, APIT in non-range finding utilizes the PIT principle to judge that mobile node is whether in the triangle that beaconing nodes forms, then all triangles of limit obtain the overlapping region, calculate the barycenter of overlapping region, centroid position is as the position of mobile node, the drawback of the method maximum is that the erroneous judgement when utilizing the position of PIT principle judgement mobile node is very large, what the PIT principle was said is when mobile node moves towards a direction, if all away from or all when three beaconing nodes, just explanation is inner at the triangle that beaconing nodes forms, otherwise just outside at triangle, this judgement principle has very large limitation, under certain situation when mobile node when triangle is inner, to will produce simultaneously when move on a leg-of-mutton limit away from close effect, and be also unpractical in the random movement of colliery underground moving node, so can there be very large erroneous judgement in this determination methods, whether also not have at present simple especially and the method for practicality at the decision method of triangle inside at mobile node, so the accuracy that addresses the above problem for the location has very important effect.
Carrying out required gateway node, beaconing nodes and the mobile node in coal mine down-hole personnel location all comprises: processor, memory, wireless transceiver, transducer and power supply, gateway node also comprises bus module, wireless transceiver is used for receiving and sending radio magnetic wave, transducer is used for temperature, humidity, the methane concentration information of perception surrounding environment, processor and memory are used for storing data information and process, bus module is used for being connected with bus, and described power supply is used for providing electric energy.Mobile node is arranged on personnel in the pit's safety cap, beaconing nodes is evenly arranged in tunnel under coal mine, gateway node is laid on wall according to the laying mode of beaconing nodes and the signal covering radius of mobile node, and by bus with the transmission base station be connected.
Summary of the invention
The purpose of this invention is to provide a kind of coal mine down-hole personnel localization method based on APIT, existing based in the APIT location in order to solve, judge that erroneous judgement and the mobile node of the determination methods that triangle that whether mobile node form at beaconing nodes is inner or outside arbitrarily moves unpractical problem.
For achieving the above object, the solution of the present invention is: a kind of coal mine down-hole personnel localization method based on APIT, and step is as follows:
(1) dispose beaconing nodes, gateway node and transmission base station according to the concrete condition under coal mine;
(2) mobile node that is carried by the personnel in the pit periodically sends positioning request signal to each beaconing nodes;
(3) after each beaconing nodes is received the positioning request signal that mobile node sends, send self-position information to mobile node;
(4) after mobile node is received the positional information of each beaconing nodes transmission, the time of record coordinate position, signal strength signal intensity and the corresponding mobile node of arrival thereof wherein, and send to contiguous gateway node;
(5) after gateway node is received the data message of mobile node transmission, send it to by transmitting the base station ground monitoring center of being located at ground;
(6) after data message in step (5) is received at the ground monitoring center, according to the positional information of each beaconing nodes and the time of the corresponding mobile node of each beaconing nodes arrival, by the TOA range measurement principle, determine mobile node to the distance of the required beaconing nodes in location;
(7) with any three the link group triangularities of beaconing nodes of determining in step (6), calculate the angle value of the angle on the line of angle value, mobile node and leg-of-mutton each beaconing nodes of composition of each Atria drift angle and triangle each limit according to the cosine law, and according to each angle value, judge whether mobile node is inner at corresponding triangle;
(8) be in all triangles of its inside for mobile node, calculate the barycenter of their overlapping regions, this centroid position is the position of mobile node.
The method of the triangle inside that judge whether mobile node form at beaconing nodes in described step (7) is: if the angle on the line of mobile node and leg-of-mutton each beaconing nodes of composition and triangle each limit is all less than the angle value of the corresponding drift angle of triangle, this mobile node is inner at the triangle that beaconing nodes forms, otherwise just outside at triangle.
The beneficial effect that the present invention reaches: the present invention utilizes the magnitude relationship of angle to judge exactly the triangle inside whether mobile node is in the beaconing nodes composition, compare with PIT test philosophy in the APIT localization method, erroneous judgement property is zero substantially, improved well the erroneous judgement of PIT detection principle, and do not need mobile node to move along certain direction, have operability, amount of calculation is little.
Description of drawings
Fig. 1 is that judgement mobile node of the present invention forms the method figure of triangle inside at beaconing nodes;
Fig. 2 is that judgement mobile node of the present invention forms the method figure of triangle outside at beaconing nodes.
Embodiment
The present invention will be further described in detail below in conjunction with accompanying drawing:
A kind of coal mine down-hole personnel localization method based on APIT of the present invention mainly comprises two stages:
(1) the judgement mobile node is inner or outside at the triangle that beaconing nodes forms: mobile node sends Location Request to beaconing nodes, broadcast transmission self-position information after beaconing nodes receives, mobile node receives information, record the positional information of beaconing nodes and the temporal information of arrival mobile node, converge to gateway node and be sent to by bus and transmit the base station, the transmission base station is delivered in ground monitoring in the heart by optical fiber transmission, process through data and obtain beaconing nodes to the angle value of the angle on the angle value of the leg-of-mutton drift angle of the distance of mobile node and beaconing nodes composition and mobile node and summit, judge according to the size of angle whether mobile node is inner at the triangle of beaconing nodes composition, if the triangle that the angle value of the angle on mobile node and summit all forms less than leg-of-mutton drift angle value at beaconing nodes is inner, otherwise just outside at triangle,
(2) accurately locate: be in all triangles of its inside for mobile node, calculate the barycenter of their overlapping regions, this centroid position is the position of mobile node.
as shown in Figure 1, A, B, C is respectively the first beaconing nodes, the second beaconing nodes and the 3rd beaconing nodes, D are a mobile node that is positioned at triangle ABC, record mobile node D and the first beaconing nodes A by the TOA distance-finding method, distance between the second beaconing nodes B and the 3rd beaconing nodes C is designated as a, b, c, between the first beaconing nodes A and the second beaconing nodes B, distance is designated as e, and the distance between the first beaconing nodes A and the 3rd beaconing nodes C is designated as f, and the distance between the second beaconing nodes B and the 3rd beaconing nodes C is designated as g, calculates respectively e according to range formula, f, the value of g, and calculate successively ∠ BAD according to the cosine law, ∠ DAC, ∠ ABD, ∠ CBD, ∠ ACD, ∠ BCD, ∠ BAC, ∠ ABC, the value of ∠ BCA, if ∠ is BAD＜∠ BAC and ∠ DAC＜∠ BAC and ∠ ABD＜∠ ABC and ∠ CBD＜∠ ABC and ∠ ACD＜∠ BCA and ∠ BCD＜∠ BCA, and mobile node D is in the first beaconing nodes A, the inside of the triangle ABC that the second beaconing nodes B and the 3rd beaconing nodes C form.
as shown in Figure 2, A, B, C is respectively the first beaconing nodes, the second beaconing nodes and the 3rd beaconing nodes, F are to be positioned at the outer mobile node of triangle ABC, mobile node F and the first beaconing nodes A, distance between the second beaconing nodes B and the 3rd beaconing nodes C records by the TOA distance-finding method, is designated as a1, b1, c1, between the first beaconing nodes A and the second beaconing nodes B, distance is designated as e1, and the distance between the first beaconing nodes A and the 3rd beaconing nodes C is designated as f1, and the distance between the second beaconing nodes B and the 3rd beaconing nodes C is designated as g1, calculate ∠ BAF according to range formula, ∠ FAC, ∠ ABF, ∠ CBF, ∠ ACF, ∠ BCF is mobile node F and the first beaconing nodes A, the angle that forms between the second beaconing nodes B and the 3rd beaconing nodes C, ∠ BAC, ∠ ABC, ∠ BCA is the first beaconing nodes, the leg-of-mutton drift angle that the second beaconing nodes and the 3rd beaconing nodes form utilizes the cosine law to obtain, ∠ BAF＞∠ BAC, ∠ BCF＞∠ BCA, mobile node F are in the first beaconing nodes A, the triangle that the second beaconing nodes B and the 3rd beaconing nodes C form is outside.
Claims (2)
1. the coal mine down-hole personnel localization method based on APIT, is characterized in that, step is as follows:
(1) dispose beaconing nodes, gateway node and transmission base station according to the concrete condition under coal mine;
(2) mobile node that is carried by the personnel in the pit periodically sends positioning request signal to each beaconing nodes;
(3) after each beaconing nodes is received the positioning request signal that mobile node sends, send self-position information to mobile node;
(4) after mobile node is received the positional information of each beaconing nodes transmission, the time of record coordinate position, signal strength signal intensity and the corresponding mobile node of arrival thereof wherein, and send to contiguous gateway node;
(5) after gateway node is received the data message of mobile node transmission, send it to by transmitting the base station ground monitoring center of being located at ground;
(6) after data message in step (5) is received at the ground monitoring center, according to the positional information of each beaconing nodes and the time of the corresponding mobile node of each beaconing nodes arrival, by the TOA range measurement principle, determine mobile node to the distance of the required beaconing nodes in location;
(7) with any three the link group triangularities of beaconing nodes of determining in step (6), calculate the angle value of the angle on the line of angle value, mobile node and leg-of-mutton each beaconing nodes of composition of each Atria drift angle and triangle each limit according to the cosine law, and according to each angle value, judge whether mobile node is inner at corresponding triangle;
(8) be in all triangles of its inside for mobile node, calculate the barycenter of their overlapping regions, this centroid position is the position of mobile node.
2. the coal mine down-hole personnel localization method based on APIT according to claim 1, is characterized in that, judge that whether mobile node in the method for the triangle inside of beaconing nodes composition is in described step (7):
If the angle on mobile node and the line that forms leg-of-mutton each beaconing nodes and triangle each limit is all less than the angle value of the corresponding drift angle of triangle, this mobile node is inner at the triangle that beaconing nodes forms, otherwise just in the triangle outside.
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Cited By (5)
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| CN104135342A (en) * | 2014-08-08 | 2014-11-05 | 张力 | Method of coding nodes in wireless micro-power routing-free automatic remote communication technology of fixed nodes and implementing communication transmission through coding |
| CN104506591A (en) * | 2014-12-11 | 2015-04-08 | 罗向阳 | Target IP (Internet protocol) geographic position locating method based on nearest common router |
| CN108692667A (en) * | 2018-04-16 | 2018-10-23 | 河南厚德电力科技有限公司 | The measurement method of concrete masonry arc-shaped surface radius and inclination angle of inclined plane |
| CN111447554A (en) * | 2020-03-27 | 2020-07-24 | 广州飞曙电子科技有限公司 | Wireless positioning method, device, terminal equipment and storage medium |
| CN116506806A (en) * | 2023-06-26 | 2023-07-28 | 深圳市矽昊智能科技有限公司 | Positioning method, device, storage medium and device based on Bluetooth device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104135342A (en) * | 2014-08-08 | 2014-11-05 | 张力 | Method of coding nodes in wireless micro-power routing-free automatic remote communication technology of fixed nodes and implementing communication transmission through coding |
| CN104506591A (en) * | 2014-12-11 | 2015-04-08 | 罗向阳 | Target IP (Internet protocol) geographic position locating method based on nearest common router |
| CN104506591B (en) * | 2014-12-11 | 2018-02-02 | 罗向阳 | A kind of Target IP geographic position locating method based on nearest common router |
| CN108692667A (en) * | 2018-04-16 | 2018-10-23 | 河南厚德电力科技有限公司 | The measurement method of concrete masonry arc-shaped surface radius and inclination angle of inclined plane |
| CN111447554A (en) * | 2020-03-27 | 2020-07-24 | 广州飞曙电子科技有限公司 | Wireless positioning method, device, terminal equipment and storage medium |
| CN111447554B (en) * | 2020-03-27 | 2022-05-03 | 广州飞曙电子科技有限公司 | Wireless positioning method, device, terminal equipment and storage medium |
| CN116506806A (en) * | 2023-06-26 | 2023-07-28 | 深圳市矽昊智能科技有限公司 | Positioning method, device, storage medium and device based on Bluetooth device |
| CN116506806B (en) * | 2023-06-26 | 2023-10-13 | 深圳市矽昊智能科技有限公司 | Positioning method, device, storage medium and device based on Bluetooth device |
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| CN103152822B (en) | 2016-02-17 |
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