Cooperative positioning method and device in underground coal mine
A technology of collaborative positioning and positioning devices, which is applied to mining devices, mining equipment, earthwork drilling and mining, etc., can solve the problems of not being able to use GPS or Beidou positioning systems, and achieve the effects of enhancing perception capabilities and standardizing operating procedures
Active Publication Date: 2022-01-25
CCTEG COAL MINING RES INST +8
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Problems solved by technology
At present, the GPS or Beidou positioning system cannot be used in the underground environment, so there is an urgent need for a method and device that can locate the equipment and personnel in the underground coal mine
Method used
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[0056] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention. On the contrary, the embodiments of the present invention include all changes, modifications and equivalents coming within the spirit and scope of the appended claims.
[0057] see figure 1 with figure 2 , the first aspect of the embodiment of the present invention provides a collaborative positioning method in underground coal mines, including the following steps:
[0058] S10. The mobile terminal itself is equipped with a positioning device, and the first position of the mobile terminal at the moment is calculated through the position...
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The present invention proposes a collaborative positioning method in underground coal mines. The method includes the following steps: the mobile terminal itself is equipped with a positioning device, and the first position of the mobile terminal is calculated by the positioning device at the moment; the fixed terminal located underground broadcasts its position information and The time information of the transmitted signal; the mobile terminal receives the signal from the fixed terminal, and calculates the second position of the mobile terminal at the moment; according to the deviation distribution of the positioning device itself and the second position, the first position is corrected to obtain the optimal estimated position of the mobile terminal. The invention combines the absolute positioning and the relative positioning, uses the transmission signal of the fixed end to regularly correct the cumulative error of the moving track of the mobile end, and can record the position of the measured object more accurately. The invention also proposes a cooperative positioning device under underground coal mines.
Description
technical field [0001] The invention relates to the technical field of underground positioning, in particular to a method and device for coordinated positioning in underground coal mines. Background technique [0002] In the mining process of modern underground coal mines, with the increase of coal mining depth and the advancement of coal mining face, various underground inspection equipment, tunneling equipment, mining equipment, and transportation equipment will continue to move during work, which will lead to The pose of the device is constantly changing. At the same time, personnel will often enter the coal mine for inspection operations and other operations, and their postures are also constantly changing. Since the underground coal mine is a complex and highly dangerous giant system, abnormal positions of equipment and abnormal actions of personnel may be the fuse of underground accidents. At present, the GPS or Beidou positioning system cannot be used in the undergr...
Claims
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IPC IPC(8): G01C21/16G01C21/20G06F17/16E21F17/18
Inventor 张金虎石增武李明忠雷声杨征雷亚军侯刚刘化立程志恒杨光耀温国惠徐亚军刘安强张明鹏赵德强李伟
Owner CCTEG COAL MINING RES INST