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UWB-based mine unmanned locomotive high accuracy positioning system and method

A technology of positioning system and positioning method, applied in the direction of radio wave measurement system, positioning, measuring device, etc., which can solve the problems of unstable channel transmission and inaccurate positioning

Inactive Publication Date: 2017-07-18
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a UWB-based high-precision positioning system and method for mine drone vehicles to solve the problems of unstable channel transmission and inaccurate positioning in the prior art positioning methods

Method used

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  • UWB-based mine unmanned locomotive high accuracy positioning system and method
  • UWB-based mine unmanned locomotive high accuracy positioning system and method
  • UWB-based mine unmanned locomotive high accuracy positioning system and method

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Embodiment Construction

[0040] Such as figure 1 As shown, a UWB-based mine UAV vehicle high-precision positioning system, including:

[0041] A number of UWB tag node Tags are respectively set in the mine as UWB signal transmitters, and the coordinates of each UWB tag node Tag are known and assigned with corresponding ID numbers;

[0042] UWB anchor node Anchor, which is set on the locomotive in the mine as a UWB signal receiver, the UWB anchor node Anchor receives the pulse signal sent by each UWB tag node Tag in real time, and records the arrival time of the pulse signal and the UWB tag corresponding to the pulse signal Coordinate data of node Tag;

[0043] AP equipment, which is arranged in the mine, and the UWB tag node Tag and UWB anchor node Anchor are respectively connected to the AP equipment through wireless communication;

[0044] Each approach has at least one signal machine. The signal machine mainly displays whether the current route is open to allow the entry of grade vehicles. The si...

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Abstract

The invention discloses a UWB-based mine unmanned locomotive high accuracy positioning system and method; the system comprises a plurality of UWB label node Tags, a UWB anchor node Anchor, underground communication AP equipment and a beacon device, wherein said four parts are connected through wireless or wired signals; the method does not directly locate the locomotive position, and comprises the following steps: 1, range finding, allowing a range finding node to utilize the features that narrow pulse signal transmission has very strong anti-interference ability, thus preventing positioning errors caused by underground dust accumulation and magnetic field disorder; 2, calculating coordinates in a route, using the least square algorithm to solve node coordinates according to inter-point accurate distances measured in the first step; 3, allowing the monitoring center to finally determine the locomotive position in the mine according to the relative position between the beacon device position in the route and the locomotive coordinates, wherein the positioning accuracy reaches 0.1m.

Description

technical field [0001] The invention relates to the field of mine unmanned vehicle positioning systems, in particular to a UWB-based high-precision positioning system and method for mine unmanned vehicles. Background technique [0002] The main mode of underground roadway transportation is to use mine rail locomotives. At present, mine locomotives in my country are all driven manually, but the complex and changeable production environment in mines poses a great threat to the life safety of underground workers. Underground operations The intelligentization and unmanned operation of mine locomotives will become an inevitable trend in future mining operations. The unmanned driving system of mine locomotives provides an effective solution for underground locomotives to solve the above problems. [0003] However, the safe and reliable operation of the unmanned driving system for mine locomotives requires accurate acquisition of various information underground. Among them, the acqu...

Claims

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Application Information

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IPC IPC(8): G01S5/14
CPCG01S5/14
Inventor 张建军陆阳卫星段章领方文浩李亮王吉俊李攀登李家骏刘文哲韩江洪
Owner HEFEI UNIV OF TECH
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