Enhanced positioning method for mine moving targets based on witness nodes under the Internet of Things architecture

Abstract

The invention discloses a mine moving target enhanced positioning method based on a witness node under the Internet of Things framework, which belongs to the mine moving target enhanced positioning method. The moving target travels in the roadway, and the existing underground positioning system locates it to obtain the initial positioning coordinate point tp(i); then, project the initial positioning coordinate point tp(i) onto the roadway center line to obtain the projected point tp'( i), use the Internet of Things management and control platform to search for sensing nodes whose distance from the projection point tp'(i) is within the maximum communication distance; finally, use the sensing node as a witness node, and use the enhanced positioning method of the witness node to obtain the initial positioning The coordinate points are corrected to enhance the positioning accuracy of the moving target. This method realizes the effective combination of the positioning system and the sensing nodes under the Internet of Things framework, realizes the optimization and upgrading of the system without changing the original positioning system in the mine, and improves the positioning accuracy of moving targets. It has good practicability and ease of use. 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

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