Underground coal mine multi-branch intersection UWB combined positioning method

Abstract

The invention relates to an underground coal mine multi-branch intersection UWB joint positioning method, and belongs to the field of UWB positioning. The method comprises the following steps: S1, installing a distance measurement card reader at an intersection, and installing a monitoring card reader at a branch; S2, when the identification card enters a positioning area, the central station issuing identification card information to a distance measurement card reader to distribute a distance measurement time sequence; S3, the UWB identification card initiating a TOF distance measurement request to the distance measurement card reader; S3, completing distance measurement; S4, the UWB monitoring card reader of each branch monitoring TOF ranging information and recording monitoring data in the ranging process; S5, the UWB ranging card reader uploading ranging information to the central station through the ring network, and the UWB monitoring card reader uploading monitoring information to the central station through the ring network; S6, the central station calculating the distance between the UWB identification card and the distance measurement card reader and the distance between the UWB identification card and each monitoring card and S7, combining all ranging data, and analyzing the position of the UWB identification card in real time. The method is high in concurrency, high in speed and high in reliability.

Description

technical field [0001] The invention belongs to the field of UWB positioning, and relates to a UWB joint positioning method for multi-branch intersections in coal mines. Background technique [0002] Coal is an important energy fuel, and its mining volume is increasing every year. However, the narrow roads and harsh environment in coal mines can easily cause safety accidents. Once a safety accident occurs, a large number of people die due to untimely rescue due to the uncertain location of emergency rescue. As an important guarantee for safe production in coal mines, the personnel positioning system usually uses technologies such as RFID, Bluetooth, Zigbee, and infrared ultrasound to realize personnel positioning functions. As a result, the positioning accuracy of traditional positioning technology is poor, and it is increasingly unable to meet the current high-concurrency and high-precision field use requirements. Compared with the traditional personnel positioning system,...

AI Technical Summary

Problems solved by technology

figure 1 The middle identification card moves from point A to point B. When the identification card is at point A, the distance measuring card reader 2 and the distance measuring card reader 4 cannot successfully measure the distance due to occlusion. According to the distance measuring card reader 1 and the distance measuring card reader The distance measuring information of device 3 can analyze the positioning information of the UWB identification card. After moving to point B, the UWB identification card joint positioning can be carried out according to the distance measuring card reader 2 and the distance measuring card reader 4. The joint positioning algorithm needs to be sequentially Ranging with each distance measuring card reader, the timing management of ranging is difficult and the joint positioning time is long

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