Mine underground personnel positioning method and system based on environmental characteristics

Abstract

The invention belongs to the technical field of positioning technologies, and particularly relates to a mine underground personnel positioning method and system based on environmental characteristics, which are suitable for personnel accurate positioning and dynamic correction in a complex structure and strong interference environment. The method comprises the steps of data classification and standardization processing, mine structure modeling, sensitive area identification and labeling, real-time positioning data acquisition and correction, and dynamic correction of an original positioning result in combination with environmental characteristics such as electromagnetic signal fluctuation, so that the accuracy and stability of underground positioning are improved. The system comprises a data arrangement module, a structure modeling module, a sensitive area identification module, an area fusion module and a positioning correction module, and all the modules cooperate to realize high-precision tracking of personnel positions and sensitive area early warning. The method can effectively overcome the error accumulation problem of a traditional positioning method under the underground strong interference condition, is suitable for underground operation scenes such as coal mines and metal and non-metal mines, and has wide application prospects.

Description

Technical Field

[0001] The present invention belongs to the technical field of positioning technology, and in particular relates to a method and system for positioning personnel underground in a mine based on environmental characteristics. Background Art

[0002] With the increasing development of mining operations, the safety of underground workers is receiving increasing attention. Traditional methods for locating personnel in underground mines primarily rely on wireless communication technologies, such as positioning systems based on communication protocols such as RFID, UWB (ultra-wideband), or ZigBee. These systems typically deploy a large number of base station nodes within the mine tunnels to achieve real-time positioning based on signals from wearable devices. However, the complex and ever-changing underground mining environment, characterized by high humidity, high temperatures, high dust levels, metal shielding, and confined spaces, severely interferes with wireless signal propagation. This makes it difficult to ensure accurate positioning based on these communication signals, and the system deployment and maintenance costs are high.

[0003] In recent years, some research has attempted to introduce auxiliary positioning methods such as inertial navigation and visual SLAM to improve personnel tracking capabilities under conditions of communication interruption or signal obstruction. However, inertial navigation is susceptible to cumulative errors, and visual SLAM performs unstably in low-light or dusty environments, both of which pose reliability challenges. Furthermore, the underground mine environment itself exhibits specific spatial distribution patterns, such as tunnel structure, wall material, ventilation direction, temperature and humidity distribution, and cable and pipeline distribution. These environmental characteristics are typically unique or relatively stable across different locations.

[0004] However, existing technologies rarely consider incorporating underground environmental characteristics into positioning models as auxiliary or primary information sources. This lack of in-depth perception and modeling of environmental information makes current personnel positioning systems susceptible to failure in the face of signal loss, channel obstruction, or extreme environmental conditions, making them difficult to meet the requirements of mine safety supervision and emergency rescue. Therefore, a new underground personnel positioning method that integrates environmental characteristics through fusion perception and reasoning is urgently needed. This method can provide stable and reliable positioning capabilities even in weak signal conditions, while also possessing strong scalability and adaptability. Summary of the Invention

[0005] In view of the above problems, the present invention aims to propose a method for locating personnel in underground mines based on environmental characteristics, comprising the following steps:

[0006] S1. Data Classification and Processing: Obtain basic underground mine information, including working face structure, roadway layout, equipment distribution, lighting configuration, and track layout; classify this information into a plane information set and a feature information set, and standardize parameters such as electromagnetic signal interference and electrical equipment status in the feature information set to form standard feature data that can be used for subsequent analysis and evaluation;

[0007] S2. Plane map construction: Based on the plane information set, a plan map reflecting the underground structure of the mine is constructed. The plan map is drawn according to a preset reference plane, which is a representative working surface. A connection plane is formed with the reference plane by setting an angle for subsequent positioning reference.

[0008] S3. Identification and marking of key areas: Collect electromagnetic signals generated during the operation of underground equipment and, combined with real-time location data collected by deployed high-precision positioning card control equipment, extract corresponding feature information. Compare the differences in this information to identify areas with significant fluctuations in electromagnetic signals, and identify these areas as sensitive areas. Mark these sensitive areas on the constructed underground mine plan.

[0009] S4. Real-time positioning correction and output: The deployed positioning card control equipment collects the real-time location information of underground mine workers to form raw positioning data, and extracts relevant feature information of their current area. Based on this feature information, the raw positioning data is corrected in real time to obtain the corrected valid location information.

[0010] In a preferred technical solution, the standardization processing of the characteristic information includes extracting the fluctuation value of the electromagnetic signal, setting an allowable deviation range based on the fluctuation value, and constructing a function model for determining the sensitivity.

[0011] In a preferred technical solution, electromagnetic signal parameters in adjacent time periods are extracted, the difference between the parameters is calculated, and the difference is set as the fluctuation reference value of the electromagnetic signal; the fluctuation reference values ​​of multiple samples are averaged to obtain a preliminary judgment parameter; the standard deviation corresponding to the electromagnetic signal is further extracted, multiplied by a preset coefficient, and combined with the preliminary judgment parameter to form a final deviation judgment value; the deviation judgment value is compared with a specific judgment threshold to draw a judgment conclusion; the parameter to be measured is determined based on the judgment conclusion and the function model calculation is executed; if the judgment result is sensitive, the sensitivity level parameter is output and summarized as feature information; if it is judged to be non-sensitive, the original parameter is retained as reference data.

[0012] In a preferred technical solution, during the function model calculation process, the difference between the parameter to be measured and the reference parameter is used as the input variable, input into the correction function, and the output result is obtained as the correction value; the correction value is compared with the preset tolerance range. If it falls within the tolerance range, it is determined that the electromagnetic environment in the area has a small change and is a credible area; if it exceeds the tolerance range, it is determined to be a fluctuation area.

[0013] In a preferred technical solution, the personnel positioning correction process further includes the following steps:

[0014] Collect real-time location data of on-site workers;

[0015] Determine whether the current area is in a sensitive area;

[0016] If it is not in a sensitive area, the location information is directly used as the positioning result;

[0017] If it is in a sensitive area, the sensitivity level parameters of the area are further obtained and compared;

[0018] If the sensitivity level does not exceed the risk threshold, this parameter can be used as a tolerance factor to correct the position offset within a certain range;

[0019] If the risk threshold is exceeded, the person will be marked as being in a high-risk area and an alarm message will be output to the monitoring system.

[0020] In a preferred technical solution, when performing fault-tolerant correction, an adjustable correction coefficient is introduced; the sensitivity level parameter required for the current correction is multiplied by the correction coefficient to obtain a fault-tolerant value; the fault-tolerant value is applied to the original positioning result of the personnel, and the corrected positioning data is output.

[0021] The present invention also provides a mine personnel positioning system based on environmental characteristics, which is used to implement the method described in the right, including:

[0022] Data sorting module: used to obtain and classify the basic information data of each area in the mine, divide it into plane information set and feature information set, and perform standardization processing;

[0023] Structural modeling module: used to construct the corresponding mine plane structure diagram based on the classification results;

[0024] Sensitive area identification module: used to analyze the degree of change in feature information, identify and mark sensitive areas;

[0025] Regional fusion module: used to superimpose sensitive area location information onto the plane structure map, automatically identify adjacent or overlapping parts, and optimize them into coherent sensitive blocks;

[0026] Positioning correction module: used to receive the real-time collected operator location information, and call the characteristic parameters to correct the positioning results and then output them.

[0027] The present invention also provides an underground mine personnel positioning terminal based on environmental characteristics, comprising at least one processor and a data storage device connected to the processor, wherein the data storage device stores a computer program; when the program is loaded and executed, the processor is enabled to execute the described method.

[0028] The beneficial effects of the present invention are:

[0029] 1. Significantly improve downhole positioning accuracy and stability: The present invention introduces environmental characteristic data (such as electromagnetic signal fluctuations) to make real-time corrections to the original positioning results, which can effectively suppress signal interference in complex environments, improve the accuracy and continuity of personnel positioning, and maintain stable positioning even in the presence of interference conditions such as electrical equipment and metal obstacles.

[0030] 2. Realize dynamic identification and early warning of sensitive areas: The present invention constructs a sensitive area identification mechanism based on the difference in characteristic parameters. It can monitor the electromagnetic fluctuations in various areas underground in real time and mark them as high-risk areas. It can dynamically identify and warn workers in the area, which helps to improve underground safety protection capabilities.

[0031] 3. Good system scalability and deployment adaptability: The present invention adopts a modular design and can be integrated into the existing underground scheduling system or run independently. It supports multi-source sensor data access and flexible deployment, which facilitates promotion and application in different mine structures, reduces operation and maintenance costs and improves system reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of the method of the present invention. DETAILED DESCRIPTION

[0033] In order to deepen the understanding of the present invention, the present invention will be further described in detail below with reference to the examples. The examples are only used to explain the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0034] Example 1

[0035] like Figure 1 As shown, this embodiment provides a method for locating personnel in a mine based on environmental characteristics, which is applied to accurately identify and dynamically correct personnel positions in complex underground structures and strong interference environments, including the following steps:

[0036] S1. Data classification and processing:

[0037] Obtain basic information about the mine, including working face structure, tunnel layout, equipment distribution, lighting configuration, and track layout;

[0038] The information is divided into a plane information set and a feature information set, and parameters such as electromagnetic signal interference and electrical equipment status in the feature information set are standardized to form standard feature data that can be used for subsequent analysis and evaluation. During the feature data processing process, the allowable deviation range is set based on the fluctuation value of the electromagnetic signal, and a function model is constructed to determine the sensitivity level, using the following form:

[0039]

[0040] Among them, σ is the deviation indicator constructed based on the current volatility value and the historical mean, and T is the set threshold

[0041] S2. Floor plan construction:

[0042] Based on the plane information set, a plane map reflecting the underground structure of the mine is constructed. The plane map is drawn according to a preset reference plane, which is a representative working surface. A connecting surface is formed with the reference plane by setting an angle, which is used for the coordinate reference and path restoration of subsequent positioning.

[0043] S3. Determination and marking of key areas:

[0044] Collect electromagnetic signals generated during the operation of underground equipment, and extract corresponding feature information by combining them with real-time position data collected by the deployed high-precision positioning card control equipment.

[0045] By comparing the differences in information, areas where there are significant fluctuations in electromagnetic signals are identified, and such areas are determined to be sensitive areas.

[0046] During the identification process, electromagnetic signal parameters within adjacent time periods are extracted, and their differences are calculated as a fluctuation reference. The standard deviation of this parameter is then extracted and combined with a preset coefficient to form a deviation judgment value. This is then compared with the judgment threshold to reach a conclusion. Finally, sensitive areas are marked on the constructed underground mine plan.

[0047] S4. Real-time positioning correction and output:

[0048] The deployed positioning card control equipment collects the real-time location information of underground mine workers to form original positioning data, and extracts relevant feature information of their current area; based on this feature information, the original positioning data is corrected in real time to obtain the corrected valid location information.

[0049] Specifically include:

[0050] S41. Original positioning fusion: Relying on high-precision positioning card control equipment deployed underground in the mine, the initial position information of the operator is collected in real time to form an original positioning data set. The original data includes UWB (ultra-wideband) ranging information, and is also combined with the displacement and direction increments provided by the IMU (inertial measurement unit) to improve the position continuity and robustness in dynamic scenes. The extended Kalman filter (EKF) algorithm is used to fuse multi-source data, and the original coordinates are estimated by dynamically updating the state transfer and observation matrix, including: the wearing terminal collects the UWB ranging observation vector z at discrete time k u (k) and the cumulative displacement Δp(k) of inertial navigation, and the extended Kalman filter (EKF) is used to obtain the uncorrected position estimate:

[0051]

[0052] in, is the two-dimensional coordinate estimation; H is the observation matrix, K(k) is the Kalman gain

[0053] S42. Construct dynamic deviation index: Based on the established mining area environmental characteristics database, extract the electromagnetic field parameter changes in the current coordinate area and construct a dynamic deviation index based on this. In the specific calculation, the electromagnetic fluctuation comprehensive deviation is defined as Among them, δ(k) is the expected value of the electromagnetic signal in the current area, σ E (k) is the standard deviation of historical fluctuations, and k0 is the adjustment factor. Subsequently, the parameter is normalized by a Sigmoid sensitivity function:

[0054]

[0055] Where T is the adjustable sensitivity threshold, representing the upper limit of the system's tolerance to electromagnetic anomalies. When δ(k) deviates significantly from T, the function value approaches 1, indicating that the current location is in a strong interference area. When δ(k) is close to or below T, the function output is small, indicating a relatively stable environment.

[0056] S43. Execute the fault-tolerant correction mechanism: Based on the output value of the above-mentioned environment-sensitive function, a direction-consistent fault-tolerant correction mechanism is adopted. This mechanism maps the result of the sensitive function to a unit vector direction consistent with the current channel direction, thereby ensuring that the position correction does not deviate from the operating channel. The specific correction displacement is defined by the following formula:

[0057]

[0058] Among them, α is the fault tolerance adjustment coefficient, the unit is meter (m), and different intervals can be set according to the risk level of the mining environment; The tangent unit vector of the channel to which the current position belongs ensures that the correction direction is consistent with the roadway geometry. This correction vector indicates that the system compensates for the displacement of the estimated coordinates when the current electromagnetic disturbance is large.

[0059] S44. Implement coordinate correction: The system superimposes the above-mentioned fault-tolerant displacement vector with the initial estimated position output by the EKF to obtain the corrected actual position coordinates of the person:

[0060]

[0061] Here, P(k) represents the final valid positioning result of the person at the kth frame. Through a triple process of fusion, evaluation, and correction, it is able to achieve highly robust and accurate dynamic positioning and identification in the complex environment of actual underground mines. This positioning result is uploaded to the monitoring system interface of the ground dispatch center in real time via a wireless link, and is used in subsequent tasks such as safety warnings and path planning.

[0062] Example 2

[0063] This example addresses the complex spatial environments and numerous tunnels found in deep mines, characterized by strong electromagnetic interference. This method proposes an environmental feature-assisted positioning method applicable to actual production scheduling systems. This method enables precise correction of workers' real-time positions, dynamic identification of sensitive areas, and early warning of high-risk situations, ensuring the safety of underground workers and providing data support for scheduling management.

[0064] S1: Data classification and processing:

[0065] During the initial system deployment phase, comprehensive data collection of the target mine's underground environment is required. This data collection covers typical areas such as the main shaft, auxiliary shaft, mining face, haulage tunnels, refuge chambers, and equipment collection areas. The collected data falls into two main categories: planar information collection and feature information collection.

[0066] The plane information collection includes the tunnel direction, size, intersection angle, section type, inclination, elevation, etc., which is used to construct a two-dimensional structure diagram of the mine;

[0067] The feature information set covers perceptible environmental feature data, such as electromagnetic interference intensity, illumination, temperature and humidity, motor operating status, wind flow changes, track signal interference, etc.

[0068] After collecting the above information, the system standardizes the feature information to facilitate subsequent modeling and analysis. The standardization process primarily includes unit unification, normalization, noise filtering, and interpolation. Among these, electromagnetic fluctuations within the environmental feature data are a key factor. The system statistically analyzes the amplitude of electromagnetic signal fluctuations over different time periods and identifies abnormal fluctuations by setting deviation intervals. Furthermore, the system incorporates a fault-tolerance mechanism, introducing a buffer for slowly varying data such as temperature and humidity to prevent misidentification due to small fluctuations.

[0069] After completing data standardization, the system archives the plane data and feature data separately, and forms a "structural benchmark library" and a "feature fluctuation benchmark library" as a reference for subsequent positioning correction and sensitive area identification.

[0070] S2: Floor plan construction:

[0071] Based on the organized planar information, the system constructs a mine structure diagram in the background. This diagram is a two-dimensional plan, using the current operating area (e.g., the coal face) as the coordinate reference plane, and gradually extending to the main haulage lanes, return air lanes, belt conveyor lanes, and pit bottom parking areas using connecting lines.

[0072] During the mapping process, the system automatically calculates the direction vector, intersection coordinates, and turning angles for each laneway. It then combines the actual inclination and elevation changes to create a structural diagram with positioning aids. To enhance map accuracy, each laneway segment is uniquely coded, and node positions and coordinates are accurately controlled within ±0.2m.

[0073] Furthermore, to facilitate simultaneous use by dispatchers and mobile devices, the structural diagram is deployed as a GIS layer on dispatch screens and underground handheld terminals, enabling unified display and updates across multiple terminals. Map information includes roadway attributes, equipment distribution, emergency escape routes, and personnel activity areas.

[0074] S3: Determination and marking of key areas:

[0075] During the positioning process, the system will continuously obtain the latest environmental feature data from the perception layer and perform real-time analysis of feature changes. The collection frequency is set to refresh every 30 seconds, and the analysis content includes:

[0076] Electromagnetic interference signal analysis: If the electromagnetic signal in a certain area fluctuates violently for three consecutive cycles, the system will list it as a "preliminary area of ​​concern";

[0077] Equipment status overlay analysis: Based on the equipment operating conditions in the area, if there are frequent equipment starts and stops, repeated motor starts, or fluctuations in the communication link, the risk level will be increased;

[0078] Historical data comparison analysis: The system will compare the current characteristic value with the historical stable period value. If the deviation continues to exceed the set threshold (such as 20% fluctuation), the area will be marked as a "formal sensitive area".

[0079] The identified sensitive areas will be marked with numbers and sensitivity levels (such as Level I, Level II, Level III) and superimposed on the structural map in the form of color layers, including:

[0080] Yellow indicates areas of slight fluctuation, which may affect positioning accuracy;

[0081] Orange indicates moderate interference areas with significant positioning deviations;

[0082] Red indicates severe interference areas with a high risk of positioning failure.

[0083] The system also automatically merges sensitive areas based on their proximity. For example, if two sensitive areas are less than 3 meters apart, they are merged into a single, unified area and optimized into a regular polygon or rectangle for easier visualization.

[0084] S4: Real-time positioning correction and output:

[0085] After the UWB / INS dual-mode positioning card control device worn by the personnel is in operation, the system will receive position information in 2-second units and perform the following processing flow:

[0086] Extraction of original positioning data: The system first obtains the initial coordinates sent by the card control device, including the horizontal position, vertical position and lane number;

[0087] Environmental feature matching: The system reads the latest feature information of the area corresponding to the coordinate point (including the current electromagnetic level, interference trend, etc.);

[0088] Correction strategy matching:

[0089] If the person is not in any sensitive area, the original coordinates are the final positioning coordinates;

[0090] If the person is in the Level I sensitive area (mild), the system will activate the fine-tuning fault tolerance rule and make a slight correction to the coordinates (such as a 0.2m offset of the direction line) by comparing it with the lane direction vector.

[0091] If it is in a Level II sensitive area (moderate), the system will correct the positioning result based on the historical offset error model of the area and mark the result as "pending confirmation" to alert the dispatcher;

[0092] If a person is in a Level III sensitive area (severe), the system will mark the location as "high risk" and push a real-time alarm to the dispatch console, reminding the on-duty personnel to manually confirm or guide the person to evacuate.

[0093] Data output and log recording: The corrected positioning results will be dynamically displayed through the dispatching system map and synchronously displayed on the underground terminal. At the same time, information such as positioning time, original value, corrected value, whether an alarm is triggered, and the sensitivity level will be recorded to form a complete and traceable positioning data record.

[0094] In addition, to ensure data security and traceability, the system uploads all location information, sensitive events, and correction processes to the central database for subsequent review and analysis and algorithm optimization.

[0095] This embodiment establishes a complete closed-loop process from data collection and model building to positioning correction and output, significantly improving the accuracy and stability of underground mine personnel positioning. Especially in complex interference environments, the system can identify in real time the impact of electromagnetic fluctuations and equipment anomalies on positioning accuracy, and uses intelligent correction strategies to achieve dynamic calibration and risk alerts, greatly enhancing the safety of underground workers.

[0096] Example 3

[0097] This embodiment provides a mine personnel positioning system based on environmental characteristics. It is suitable for scenarios such as complex internal structures of mines, significant electromagnetic interference, and insufficient accuracy of traditional positioning methods. It can be used in conjunction with the positioning correction method described above to achieve accurate identification and dynamic correction of operating personnel location information. The system adopts a modular configuration in its structural design, including the following functional modules:

[0098] The data collation module is responsible for the initial data collection and collation. Through sensing terminals deployed in key areas, the system acquires raw data such as underground mine structural information, lighting layout, equipment location, track orientation, and historical operation and maintenance records. The collected data is logically divided into a planar information set and a feature information set, used to describe the mine structure and reflect regional characteristics, respectively. After classification, the system standardizes the feature information, including normalization of multi-dimensional parameters such as electromagnetic signal strength, electrical equipment operating status, and communication fluctuations, as well as deviation quantification and difference extraction to ensure comparability and stability in subsequent analysis.

[0099] The structural modeling module constructs a mine structure diagram based on a collection of planar information. Based on the reference plane parameters, connection angles, and reference point information in the collected data, the system automatically draws a spatial relationship diagram of each laneway, intersection, working surface, and facility area. This structural diagram not only provides a display function but also provides a coordinate reference for subsequent overlay and positioning correction of sensitive areas.

[0100] The Sensitive Area Identification module focuses on dynamic environmental monitoring and regional assessment. The system periodically monitors changes in key indicators within the feature information set, paying particular attention to dimensions such as electromagnetic field fluctuations, signal obstruction frequency, and the duration of abnormal interference. Using predefined judgment rules, it identifies areas with significant changes and marks them as potentially sensitive areas. To avoid misjudgments, the system also cross-validates historical data to improve recognition accuracy and robustness.

[0101] The Regional Fusion Module, based on sensitive area identification, maps the coordinates of these marked sensitive areas onto the floor plan generated by the Structural Modeling Module. To optimize spatial representation, this module incorporates intelligent fusion capabilities, determining features such as boundary continuity and correlation with environmental interference between adjacent or overlapping areas, automatically merging them into coherent, consistent sensitive blocks. This approach simplifies complex layers, making it easier for dispatchers to intuitively understand the distribution of key monitoring areas.

[0102] The positioning correction module is one of the system's core functions. It receives real-time location information from the positioning devices worn by operators and dynamically evaluates and corrects it based on the environmental characteristics of the area. When a positioning point is located within an identified sensitive area, the system will perform offset corrections based on factors such as the magnitude of changes in characteristic parameters, the sensitivity level of the area, and historical error models, outputting more reliable actual location information. Ultimately, the corrected positioning results are displayed in real time on the dispatch center interface and can be used for applications such as trajectory analysis, risk warning, and dispatch guidance.

[0103] This embodiment breaks through the technical bottleneck of large errors in traditional UWB or inertial navigation single positioning modes in underground scenarios by deeply integrating environmental features with structural diagrams, and realizes accurate positioning and dynamic correction of personnel in high-risk working environments, providing high-precision and strong robustness technical support for mine safety management.

[0104] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for locating personnel in underground mines based on environmental characteristics, characterized in that: The following steps are involved: S1. Data Classification and Processing: Obtain basic underground mine information, including working face structure, roadway layout, equipment distribution, lighting configuration, and track layout; classify this information into a plane information set and a feature information set, and standardize parameters such as electromagnetic signal interference and electrical equipment status in the feature information set to form standard feature data that can be used for subsequent analysis and evaluation; S2. Plane map construction: Based on the plane information set, a plan map reflecting the underground structure of the mine is constructed. The plan map is drawn according to a preset reference plane, which is a representative working surface. A connection plane is formed with the reference plane by setting an angle for subsequent positioning reference. S3. Identification and marking of key areas: Electromagnetic signals generated during downhole equipment operation are collected and combined with real-time location data collected by deployed high-precision positioning and control equipment to extract corresponding feature information. Based on the differences in this information, areas with significant fluctuations in electromagnetic signals are identified and designated as sensitive areas. Marking the sensitive area on the constructed underground mine plan; S4. Real-time positioning correction and output: The deployed positioning card control equipment collects the real-time location information of underground mine workers to form raw positioning data, and extracts relevant feature information of their current area. Based on this feature information, the raw positioning data is corrected in real time to obtain the corrected valid location information.

2. The method for locating personnel in underground mines based on environmental characteristics according to claim 1, characterized in that: The standardization processing of the characteristic information includes extracting the fluctuation value of the electromagnetic signal, setting an allowable deviation range based on the fluctuation value, and constructing a function model for determining the sensitivity.

3. The method for locating personnel in underground mines based on environmental characteristics according to claim 2, characterized in that: Extracting electromagnetic signal parameters within adjacent time periods, calculating the difference between the parameters, and setting the difference as a fluctuation reference value of the electromagnetic signal; averaging the fluctuation reference values ​​of multiple samples to obtain a preliminary judgment parameter; further extracting the standard deviation corresponding to the electromagnetic signal, multiplying it by a preset coefficient, and combining it with the preliminary judgment parameter to form a final deviation judgment value; comparing the deviation judgment value with a specific judgment threshold to draw a judgment conclusion; determining the parameter to be measured based on the judgment conclusion and executing the function model calculation; if the judgment result is sensitive, outputting a sensitivity level parameter and summarizing it as feature information; If it is judged to be non-sensitive, the original parameters are retained as reference data.

4. The method for locating personnel in underground mines based on environmental characteristics according to claim 3, characterized in that: During the function model calculation process, the difference between the parameter to be measured and the reference parameter is used as the input variable and input into the correction function to obtain the output result as the correction value; the correction value is compared with the preset tolerance range. If it falls within the tolerance range, it is determined that the electromagnetic environment in the area has little change and is a reliable area; if it exceeds the tolerance range, it is determined to be a fluctuating area.

5. The method for locating personnel in underground mines based on environmental characteristics according to claim 1, characterized in that: The process of correcting personnel positioning also includes the following steps: Collect real-time location data of on-site workers; Determine whether the current area is in a sensitive area; If it is not in a sensitive area, the location information is directly used as the positioning result; If it is in a sensitive area, the sensitivity level parameters of the area are further obtained and compared; If the sensitivity level does not exceed the risk threshold, this parameter can be used as a tolerance factor to correct the position offset within a certain range; If the risk threshold is exceeded, the person will be marked as being in a high-risk area and an alarm message will be output to the monitoring system.

6. The method for locating personnel in underground mines based on environmental characteristics according to claim 5, characterized in that: When performing fault-tolerant correction, an adjustable correction coefficient is introduced; the sensitivity level parameter required for the current correction is multiplied by the correction coefficient to obtain a fault-tolerant value; the fault-tolerant value is applied to the original positioning result of the personnel, and the corrected positioning data is output.

7. A mine personnel positioning system based on environmental characteristics, used to implement the method according to any one of claims 1 to 6, characterized in that: include: Data sorting module: used to obtain and classify the basic information data of each area in the mine, divide it into plane information set and feature information set, and perform standardization processing; Structural modeling module: used to construct the corresponding mine plane structure diagram based on the classification results; Sensitive area identification module: used to analyze the degree of change in feature information, identify and mark sensitive areas; Regional fusion module: used to superimpose sensitive area location information onto the plane structure map, automatically identify adjacent or overlapping parts, and optimize them into coherent sensitive blocks; Positioning correction module: used to receive the real-time collected operator location information, and call the characteristic parameters to correct the positioning results and then output them.

8. A mine personnel positioning terminal based on environmental characteristics, characterized by: The method comprises at least one processor and a data storage device connected to the processor, wherein the data storage device stores a computer program; when the program is loaded and executed, the processor is enabled to execute the method according to any one of claims 1 to 6.

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