Method and system for rapidly measuring UWB positioning dynamic precision under mine

Abstract

The invention discloses a method and a system for rapidly measuring UWB positioning dynamic precision under a mine. The method comprises the following steps: erecting a positioning substation of a UWB positioning system, and setting a distance D of which the dynamic precision needs to be tested; calibrating a test point A, wherein the distance between the test point A and the positioning substation is D; modifying the positioning terminal to control alarm when the positioning distance between the positioning terminal and the positioning substation is not less than D; placing the positioning terminal under the positioning substation, moving from the lower part of the positioning substation to the direction of the test point A until the positioning terminal gives an alarm, and marking the position B of the positioning terminal when the positioning terminal gives the alarm for the first time; measuring the distance between the point A and the point B, wherein the distance is a dynamic positioning error d obtained by the test; repeating n times, calculating the average value of d obtained by n times of tests, and obtaining UWB positioning dynamic positioning precision; according to the method and the system for rapidly measuring the UWB positioning dynamic precision under the mine, the measurement of the dynamic precision can be completed only by matching one positioning terminal with the positioning substation, and the method and the system have the advantages of simplicity, convenience, rapidness, wide application range and the like.

Description

Technical Field

[0001] The invention relates to a technology for measuring positioning accuracy, and in particular to a method and a system for quickly measuring UWB positioning dynamic accuracy in a mine. Background Art

[0002] Dynamic positioning accuracy is an important indicator to measure the positioning effect of a UWB positioning system. Measuring dynamic accuracy can tell whether there are problems with the design, installation, and use of the positioning system, and whether it can meet the requirements of safety standards. After measuring the dynamic accuracy, this dynamic accuracy can be combined with other test items, such as static accuracy and coverage distance mentioned in the safety standards, to judge the positioning system to see whether the design, installation, and implementation of the positioning system can meet the requirements.

[0003] like Figure 1 As shown in the figure, the dynamic accuracy test method currently used by the Safety Standard Testing Center is mainly to set up a set of infrared beaming devices at the test point. When the positioning terminal passes through the infrared beaming device at a certain speed, the infrared beaming device gives the accurate time and moving speed of the positioning terminal passing through the test point. Then, according to the time, the positioning system is used to read the positioning distance of the positioning terminal at that time, and then compared with the actual distance between the test point and the positioning substation to obtain the dynamic accuracy of positioning. Although this test method can accurately measure the dynamic positioning accuracy of the UWB positioning system, it requires the use of additional infrared beaming devices, which require additional power supply, and each time the test location is changed, the infrared beaming device needs to be re-set up and calibrated. If it is implemented in a mine, it is very time-consuming and laborious. In addition, due to the compliance problem of the infrared beaming device, it may not be used in a mine. It is inconvenient to obtain power underground, and the use of the infrared beaming device requires additional power supply, which has high requirements for the selection of test points. The installation, deployment, and calibration of infrared counter-radiation devices are relatively complicated and tedious, and they need to be rearranged each time the location is changed, which is a large workload and is not suitable for large-scale use. This method requires coordination between the well and underground. The positioning data is generally stored in the server on the well. After the time when the positioning terminal passes the test point is obtained underground, it is necessary to link up with the well to obtain the result. Summary of the invention

[0004] Based on this, it is necessary to provide a simple and easy-to-operate method for quickly measuring the dynamic accuracy of UWB positioning in mines.

[0005] A simple and easy-to-operate system for quickly measuring the dynamic accuracy of UWB positioning in mines is also provided.

[0006] A method for quickly measuring the dynamic accuracy of UWB positioning in a mine, comprising:

[0007] Set distance: Set up the positioning substation of the UWB positioning system and set the distance D that needs to be tested for dynamic accuracy;

[0008] Calibration test point: Calibration test point A, the distance from the positioning substation is D;

[0009] Alarm control: Modify the positioning terminal of the UWB positioning system so that the positioning distance between it and the positioning substation is not less than D, and control the alarm;

[0010] Mark the alarm position: Place the positioning terminal under the positioning substation and move from the positioning substation to the test point A until the positioning terminal issues an alarm. Mark the position B where the positioning terminal first issues an alarm.

[0011] This dynamic positioning error: measure the distance between the test point A and the first alarm position B, and get the dynamic positioning error △d of the UWB positioning system for this test;

[0012] Dynamic positioning accuracy: Return to the step of marking the alarm position and repeat it n times, calculate the average value of the dynamic positioning error △d obtained from n tests, and obtain the dynamic positioning accuracy of UWB positioning.

[0013] In a preferred embodiment, in the step of marking the alarm position, the positioning terminal is controlled to move uniformly from the substation to the test point A at a moving speed of 6m / s-7m / s.

[0014] In a preferred embodiment, in the step of marking the alarm position, the positioning terminal is controlled to move uniformly from the substation to the direction of the test point A at a moving speed of 7 m / s.

[0015] In a preferred embodiment, in the step of marking the alarm position, when the obtained positioning distance is less than D, the mobile positioning terminal controls to turn off the alarm.

[0016] In a preferred embodiment, in the dynamic positioning accuracy step, the step of returning to the marking alarm position is repeated n≥3 times, and the average value of the dynamic positioning error △d obtained from n tests is calculated to obtain the dynamic positioning accuracy of UWB positioning.

[0017] In a preferred embodiment, in the dynamic positioning accuracy step, the step of returning to the marking alarm position is repeated n=3 times, and the average value of the dynamic positioning error Δd obtained from n tests is calculated to obtain the dynamic positioning accuracy of UWB positioning.

[0018] A system for quickly measuring the dynamic accuracy of UWB positioning in a mine, comprising:

[0019] Setting distance module: Set up the positioning substation of the UWB positioning system and set the distance D that needs to be tested for dynamic accuracy;

[0020] Calibration test point module: Calibration test point A, the distance from the positioning substation is D;

[0021] Alarm control module: Modify the positioning terminal of the UWB positioning system so that when the positioning distance between it and the positioning substation is not less than D, control the alarm;

[0022] Marking alarm position module: Place the positioning terminal under the positioning substation and move from the positioning substation to the test point A until the positioning terminal issues an alarm. Mark the position B where the positioning terminal first issues an alarm.

[0023] This dynamic positioning error module: measures the distance between the test point A and the first alarm position B, and obtains the dynamic positioning error △d of the UWB positioning system for this test;

[0024] Dynamic positioning accuracy module: Return to the step of marking the alarm position and repeat it n times, calculate the average value of the dynamic positioning error △d obtained from n tests, and obtain the dynamic positioning accuracy of UWB positioning.

[0025] In a preferred embodiment, in the marking alarm position module, the positioning terminal is controlled to move uniformly from the substation to the test point A at a moving speed of 6m / s-7m / s.

[0026] In a preferred embodiment, in the marking alarm position module, the positioning terminal is controlled to move uniformly from the substation to the test point A at a moving speed of 7 m / s.

[0027] In a preferred embodiment, in the marking alarm position module, when the obtained positioning distance of the mobile positioning terminal is less than D, the alarm is controlled to be turned off.

[0028] The above method and system for quickly measuring the dynamic accuracy of UWB positioning in mines do not require the use of additional equipment such as infrared emitting devices, and only require a positioning terminal and a positioning substation to complete the measurement of dynamic accuracy, which has the advantages of being simple, fast, and having a wide range of applications. It is very suitable for quickly verifying the layout effect of the installed positioning substation after the positioning substation is installed and deployed in the mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of a method for measuring UWB positioning dynamic accuracy in the background technology;

[0030] Figure 2 This is a flow chart of a method for quickly measuring the dynamic accuracy of UWB positioning in a mine according to an embodiment of the present invention;

[0031] Figure 3 The present invention is a schematic diagram of a method for rapidly measuring the dynamic accuracy of UWB positioning in a mine according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] like Figures 2 to 3As shown, a method for quickly measuring the dynamic accuracy of UWB positioning in a mine according to an embodiment of the present invention includes:

[0033] Step S101, setting the distance: setting up a positioning substation of the UWB positioning system and setting the distance D for testing the dynamic accuracy;

[0034] Step S103, calibrate the test point: calibrate the test point A, the distance from the positioning substation is D;

[0035] Step S105, alarm control: modify the positioning terminal of the UWB positioning system so that when the positioning distance between the terminal and the positioning substation is not less than D, an alarm is controlled;

[0036] Step S107, marking the alarm position: placing the positioning terminal under the positioning substation, and moving from under the positioning substation toward the test point A until the positioning terminal issues an alarm, and marking the position B where the positioning terminal issues the first alarm;

[0037] Step S109, this dynamic positioning error: measure the distance between the test point A and the first alarm position B to obtain the dynamic positioning error △d of the UWB positioning system for this test;

[0038] Step S111, dynamic positioning accuracy: return to the step of marking the alarm position and repeat n times, calculate the average value of the dynamic positioning error △d obtained from n tests, and obtain the dynamic positioning accuracy of UWB positioning.

[0039] Furthermore, in step S107 of an embodiment of the present invention, in the step of marking the alarm position, the positioning terminal is controlled to move from the substation to the test point A at a speed of 6 m / s-7 m / s.

[0040] Further, preferably, in step S107 of an embodiment of the present invention, in the step of marking the alarm position, the positioning terminal is controlled to move at a speed of 7 m / s from the substation to the direction of the test point A.

[0041] Furthermore, in step S107 of an embodiment of the present invention, in the step of marking the alarm position, when the obtained positioning distance is less than D, the mobile positioning terminal controls to turn off the alarm.

[0042] Furthermore, in step S111 of an embodiment of the present invention, in the dynamic positioning accuracy step, the step of marking the alarm position is returned to and repeated n≥3 times, and the average value of the dynamic positioning error △d obtained from n tests is calculated to obtain the dynamic positioning accuracy of UWB positioning.

[0043] Furthermore, in step S111 of an embodiment of the present invention, in the dynamic positioning accuracy step, the step of marking the alarm position is repeated n=3 times, and the average value of the dynamic positioning error △d obtained from n tests is calculated to obtain the dynamic positioning accuracy of UWB positioning.

[0044] A method for quickly measuring the dynamic accuracy of UWB positioning in a mine according to a preferred embodiment of the present invention is as follows: first, a positioning substation of the UWB positioning system is set up, and the distance to be tested for dynamic accuracy is set to D meters (e.g., 50 meters). Then, a test point A is measured and calibrated (a marking point or a marking line) at a distance of D meters from the positioning substation using a related distance measurement tool.

[0045] Before the test, the positioning terminal of the UWB positioning system is burned into a specific embedded program. The function of the embedded program is to enable the positioning terminal to locate with the positioning substation and obtain the positioning distance. When the positioning distance obtained by the positioning terminal with the positioning substation is greater than or equal to D meters, an alarm is immediately and continuously issued, such as an audible and visual alarm, which can be in the form of buzzing, vibration, flashing lights, etc. When the positioning distance obtained is less than D meters, the alarm, such as the audible and visual alarm, is turned off.

[0046] When measuring the dynamic positioning accuracy, the positioning terminal is moved at a certain speed from directly below the positioning substation toward the calibrated test point A. During this period, the positioning terminal is observed. When the positioning terminal issues an audible and visual alarm, the position point B where the positioning terminal first issues an audible and visual alarm is immediately marked. The distance Δd meters between point B and the calibrated test point A is measured by the distance measuring tool as the dynamic positioning error obtained in this test. Repeat the above test multiple times to obtain the dynamic positioning error and take the average value as the dynamic accuracy of the UWB positioning system.

[0047] The method for quickly measuring the dynamic accuracy of UWB positioning in a mine of the present invention is a dynamic accuracy measurement method more suitable for use in an underground environment. The method of the present invention does not require the use of additional equipment such as an infrared radiating device, and only requires a positioning substation and a positioning terminal to complete the method. Since no additional equipment such as an infrared radiating device is introduced, there will be no problems with the conformity of the additional equipment and power supply, and there are no special requirements for selecting test points. At the same time, the test steps are simple, and the test results can be obtained immediately underground during the test, without the need for linkage with the well, which is convenient and fast, and suitable for use in large-scale underground testing.

[0048] A system for quickly measuring the dynamic accuracy of UWB positioning in a mine according to an embodiment of the present invention comprises:

[0049] Setting distance module: Set up the positioning substation of the UWB positioning system and set the distance D that needs to be tested for dynamic accuracy;

[0050] Calibration test point module: Calibration test point A, the distance from the positioning substation is D;

[0051] Alarm control module: Modify the positioning terminal of the UWB positioning system so that when the positioning distance between it and the positioning substation is not less than D, control the alarm;

[0052] Marking alarm position module: Place the positioning terminal under the positioning substation and move from the positioning substation to the test point A until the positioning terminal issues an alarm. Mark the position B where the positioning terminal first issues an alarm.

[0053] This dynamic positioning error module: measures the distance between the test point A and the first alarm position B, and obtains the dynamic positioning error △d of the UWB positioning system for this test;

[0054] Dynamic positioning accuracy module: Return to the step of marking the alarm position and repeat it n times, calculate the average value of the dynamic positioning error △d obtained from n tests, and obtain the dynamic positioning accuracy of UWB positioning.

[0055] Furthermore, in the marking alarm position module of an embodiment of the present invention, the moving speed of the positioning terminal from the substation to the test point A is controlled to be 6m / s-7m / s.

[0056] Further, preferably, in the marking alarm position module of an embodiment of the present invention, the moving speed of the positioning terminal from the substation to the test point A is controlled to be 7 m / s.

[0057] Furthermore, in the marking alarm position module of an embodiment of the present invention, when the obtained positioning distance is less than D, the mobile positioning terminal controls to turn off the alarm.

[0058] Furthermore, in a dynamic positioning accuracy module of an embodiment of the present invention, the step of returning to the marking alarm position is repeated n≥3 times, and the average value of the dynamic positioning error △d obtained from n tests is calculated to obtain the dynamic positioning accuracy of UWB positioning.

[0059] Further, preferably, in a dynamic positioning accuracy module of an embodiment of the present invention, the step of returning to the marking alarm position is repeated n=3 times, and the average value of the dynamic positioning error △d obtained from n tests is calculated to obtain the dynamic positioning accuracy of UWB positioning.

[0060] The method and system for quickly measuring the dynamic accuracy of UWB positioning in mines of the present invention do not require the use of additional equipment such as infrared emitting devices, and only require a positioning terminal and a positioning substation to complete the measurement of dynamic accuracy, and have the advantages of being simple, fast, and having a wide range of uses. It is very suitable for quickly verifying the layout effect of the installed positioning substation after the positioning substation is installed and laid out in the mine.

[0061] In the description of the present invention, it is necessary to understand that terms such as "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are orientations or positional relationships based on the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0062] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0063] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0064] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for quickly measuring the dynamic accuracy of UWB positioning in a mine, characterized in that: include: Set distance: Set up the positioning substation of the UWB positioning system and set the distance D that needs to be tested for dynamic accuracy; Calibration test point: Calibration test point A, the distance from the positioning substation is D; Alarm control: Modify the positioning terminal of the UWB positioning system so that the positioning distance between it and the positioning substation is not less than D, and control the alarm; Mark the alarm position: place the positioning terminal under the positioning substation and move from the positioning substation to the test point A until the positioning terminal issues an alarm, marking the position B when the positioning terminal first alarms; Dynamic positioning error for this time: measure the distance between the test point A and the first alarm position B, and obtain the dynamic positioning error △d of the UWB positioning system for this test; Dynamic positioning accuracy: Return to the step of marking the alarm position and repeat it n times, calculate the average value of the dynamic positioning error △d obtained from n tests, and obtain the dynamic positioning accuracy of UWB positioning.

2. The method for quickly measuring the dynamic accuracy of UWB positioning in a mine according to claim 1, characterized in that: In the step of marking the alarm position, the positioning terminal is controlled to move uniformly from the substation to the test point A at a moving speed of 6m / s-7m / s.

3. The method for quickly measuring the dynamic accuracy of UWB positioning in a mine according to claim 1, characterized in that: In the step of marking the alarm position, the positioning terminal is controlled to move uniformly from the substation to the test point A at a moving speed of 7 m / s.

4. The method for quickly measuring the dynamic accuracy of UWB positioning in a mine according to any one of claims 1 to 3, characterized in that: In the step of marking the alarm position, when the obtained positioning distance is less than D, the mobile positioning terminal controls to turn off the alarm.

5. The method for quickly measuring the dynamic accuracy of UWB positioning in a mine according to any one of claims 1 to 3, characterized in that: In the dynamic positioning accuracy step, return to the step of marking the alarm position and repeat n≥3 times, calculate the average value of the dynamic positioning error △d obtained by n tests, and obtain the UWB positioning dynamic positioning accuracy.

6. The method for quickly measuring the dynamic accuracy of UWB positioning in a mine according to any one of claims 1 to 3, characterized in that: In the dynamic positioning accuracy step, return to the step of marking the alarm position and repeat n=3 times, calculate the average value of the dynamic positioning error Δd obtained by n tests, and obtain the UWB positioning dynamic positioning accuracy.

7. A system for quickly measuring the dynamic accuracy of UWB positioning in a mine, characterized in that: include: Setting distance module: Set up the positioning substation of the UWB positioning system and set the distance D that needs to be tested for dynamic accuracy; Calibration test point module: Calibration test point A, the distance from the positioning substation is D; Alarm control module: Modify the positioning terminal of the UWB positioning system so that when the positioning distance between it and the positioning substation is not less than D, control the alarm; Marking alarm position module: Place the positioning terminal under the positioning substation and move from the positioning substation to the test point A until the positioning terminal issues an alarm. Mark the position B where the positioning terminal first issues an alarm. This dynamic positioning error module: measures the distance between the test point A and the first alarm position B, and obtains the dynamic positioning error △d of the UWB positioning system for this test; Dynamic positioning accuracy module: Return to the step of marking the alarm position and repeat it n times, calculate the average value of the dynamic positioning error △d obtained from n tests, and obtain the dynamic positioning accuracy of UWB positioning.

8. The method for quickly measuring the dynamic accuracy of UWB positioning in a mine according to claim 7, characterized in that: In the marking alarm position module, the positioning terminal is controlled to move at a uniform speed of 6m / s-7m / s from the substation to the test point A.

9. The method for quickly measuring the dynamic accuracy of UWB positioning in a mine according to claim 7, characterized in that: In the marking alarm position module, the positioning terminal is controlled to move uniformly from the substation to the test point A at a moving speed of 7m / s.

10. The method for quickly measuring the dynamic accuracy of UWB positioning in a mine according to any one of claims 7 to 9, characterized in that: In the marking alarm position module, when the obtained positioning distance of the mobile positioning terminal is less than D, the alarm is controlled to be turned off.

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