Witness node based method for enhanced positioning of mine moving target under architecture of Internet of things

Abstract

The invention discloses a witness node based method for enhanced positioning of a mine moving target under the architecture of Internet of things and belongs to methods for enhanced positioning of mine moving targets. The method comprises the following steps: positioning a moving target which moves forwards in a tunnel by using an existing underground positioning system to obtain an initial positioning coordinate point tp (i); then, projecting the initial positioning coordinate point tp (i) to the central line of the tunnel to obtain a projection point tp' (i), and searching a perception node of the distance of the projection point tp' (i) in the biggest communication distance range by using a management and control platform of the Internet of things; and finally, taking the perception node as a witness node, and correcting the obtained initial positioning coordinate point by virtue of a witness node enhanced positioning method to enhance the positioning accuracy of the moving target. By adopting the method, the effective combination of the positioning system and the perception node is realized under the architecture of the Internet of things; on the basis that an original positioning system under a mine is not changed, the optimized upgrading of the system is realized, and the positioning accuracy of the moving target is improved; and the method has very good practicability and usability.

Description

technical field [0001] The invention relates to a method for enhanced positioning of a moving target in a mine, in particular to a method for enhanced positioning of a moving target in a mine based on a witness node under the framework of the Internet of Things. Background technique [0002] The special environment of underground coal mines causes serious non-line-of-sight and multipath fading phenomena in the propagation of wireless signals, which in turn restricts the positioning accuracy of conventional positioning technologies when used underground. [0003] According to whether the distance needs to be measured during the positioning process, positioning algorithms can be divided into two categories: ranging and non-ranging. Algorithms based on non-ranging are simple to implement, but the positioning accuracy is not high, and most algorithms are not suitable for the narrow and long underground tunnel environment, such as centroid algorithm, dv-hop algorithm, etc. Algor...

AI Technical Summary

Problems solved by technology

However, the fading of signals in coal mine roadways is extremely irregular, and it is difficult to establish a suitable signal attenuation model, resulting in low accuracy of the positioning algorithm based on RSSI and the accuracy changes with time; other common algorithms based on ranging, such as DOA, TOA, etc., Requires the cooperation of high-precision hardware equipment, and is affected by various conditions, the positioning accuracy is not ideal or the price is expensive

[0004] It can be seen that the mine positioning system based solely on the existing positioning algorithm is difficult to meet the requirements of mine safety production for positioning accuracy

Images