Downhole wireless positioning method based on understanding

Abstract

The invention relates to an underground target locating method, in particular to a cognitive-based underground wireless locating method. The locating method comprises the following steps: (1), establishing above-mine and underground cable and wireless connection networks; (2), arranging a three-dimensional coordinate at a fixed underground node as a beacon node; (3), measuring the distance between the beacon node and the neighboring nodes in a cognitive way; (4), calculating the distance of reaching three or more beacon nodes through a cognitive method, and then calculating the coordinates ofunknown nodes in a cognitive way; (5), and refining the obtained node coordinates in a mobile-cognitive way so as to improve the positioning accuracy. The method has the advantages that the method uses cognitive multiple transferring and distributed calculations to meet the high-precision, low-power, anti-damage needs in underground location; at the same time, the method uses the two-dimensional coordinates of the mobile nodes and the three-dimensional coordinates of the fixed nodes to achieve the precise three-dimensional positioning of the mobile nodes.

Description

Technical field [0001] The invention relates to a method for positioning a target underground in a mine, in particular to a method for underground wireless positioning based on cognition. Background technique [0002] The mobile positioning service in the underground network system has attracted more and more attention. The main applications of the underground mobile positioning service include: underground personnel position positioning, underground safety positioning, underground personal service positioning, underground equipment positioning, underground traffic positioning, and underground production Data positioning, positioning of underground mineral resources, etc. [0003] Global Positioning System GPS is currently the most widely used and most mature positioning system. It uses multiple high-orbit satellites to determine the user's location by measuring distance and distance change rate. It has high positioning accuracy, good real-time performance, and strong anti-interfer...

AI Technical Summary

Problems solved by technology

The centroid algorithm first determines the area containing the unknown node, calculates the centroid of this area and takes it as the position of the unknown node. This algorithm is completely based on network connectivity and does not require coordination between beacon nodes and unknown nodes. It is easy to implement, but the positioning accuracy It has a lot to do with the density and distribution of beacon nodes, resulting in low positioning accuracy; the DV-HOP positioning mechanism is that the unknown node first calculates the minimum number of hops to the beacon node, and then estimates the average distance of each node to obtain the distance between nodes. Then obtain the node coordinates through mathematical calculations

This method has low hardware requirements for nodes and is simple to implement, but the positioning error is relatively large by using the hop distance instead of the straight-line distance; the Amorphous algorithm uses the communication radius of the node as the average distance per hop, and the scalability of the network is poor. The requirements are high, and the positioning error is large; the APIT algorithm first determines multiple triangular areas containing unknown nodes, and the intersection of these triangular areas is a polygon, which determines a smaller area containing unknown nodes, and then calculates the centroid of this polygonal area , and use the centroid as the position of the unknown node. This method has high positioning accuracy and stable performance, but it puts forward higher requirements on the connectivity of the network.

These positioning methods cannot locate three-dimensional coordinates or cannot accurately locate three-dimensional coordinates

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