A navigation positioning system for an auxiliary transport device in a coal mine

Abstract

The application discloses a kind of coal mine auxiliary transport device navigation positioning systems, the positioning system includes: multi-source positioning signal module, the multi-source positioning signal module is used to send electromagnetic wave signal with different characteristics, multi-source positioning signal module includes n, n is the positive integer greater than 2, multi-source positioning signal module is installed in coal mine, different characteristics of electromagnetic wave signal in any space of coal mine at least includes 2;Mobile positioning module, the mobile positioning module includes signal receiving assembly and dynamic fusion navigation positioning component, signal receiving assembly is electrically connected with dynamic fusion navigation positioning component.To solve the problem of poor positioning stability and poor positioning accuracy when positioning in coal mine in the prior art.

Description

Technical Field

[0001] This invention relates to the field of underground coal mine positioning technology, and in particular to a navigation and positioning system for an underground auxiliary transportation device in a coal mine. Background Technology

[0002] Existing underground coal mine positioning technologies, such as WIFI positioning, ultra-wideband positioning, and infrared positioning, all rely on the principle of triangulation. When these technologies are used for underground coal mine positioning, they suffer from poor positioning stability and accuracy. Summary of the Invention

[0003] In order to overcome the shortcomings and deficiencies of the prior art, the purpose of this invention is to provide a navigation and positioning system for an underground auxiliary transportation device in coal mines.

[0004] The technical solution of the present invention is: a navigation and positioning system for an underground auxiliary transportation device in a coal mine, the positioning system comprising:

[0005] A multi-source positioning signal module is used to transmit electromagnetic wave signals with different characteristics. The multi-source positioning signal module includes n modules, where n is a positive integer greater than 2. The multi-source positioning signal module is installed underground in a coal mine. At least two electromagnetic wave signals with different characteristics are present in any space underground in the coal mine.

[0006] A mobile positioning module, comprising a signal receiving component and a dynamic fusion navigation and positioning component, wherein the signal receiving component is electrically connected to the dynamic fusion navigation and positioning component;

[0007] The signal receiving component is used to receive electromagnetic waves emitted by the multi-source positioning signal module;

[0008] The dynamic fusion navigation and positioning component is used to analyze the correlation between the intensity of each electromagnetic wave and the position coordinates received by the signal receiving component when constructing the positioning database. When performing the positioning task, the dynamic fusion navigation and positioning component is used to match the detected intensity of each electromagnetic wave with the intensity of each electromagnetic wave in the positioning database. The position coordinates associated with the most matched intensity of each electromagnetic wave in the positioning database are the positioning results.

[0009] Furthermore, the mobile positioning module also includes:

[0010] An inertial positioning component is used to integrate the acceleration of the mobile positioning module twice, and use the position coordinates located by the electromagnetic wave characteristics received by the signal receiving component as the initial position. The current position coordinates of the mobile positioning module are calculated by combining the initial value and the integral value of the acceleration of the mobile positioning module. The inertial positioning module is electrically connected to the dynamic fusion navigation and positioning component.

[0011] If the number of electromagnetic wave intensities that match each other with the electromagnetic wave intensities in the positioning database during the positioning task is greater than 1, the dynamic fusion navigation and positioning component is also used to compare the position coordinates located by the current electromagnetic wave features with the position coordinates calculated by the inertial positioning component, and take the position coordinates corresponding to the electromagnetic wave intensities in the positioning database that are closest to the position coordinates calculated by the inertial positioning component as the positioning result.

[0012] Furthermore, the mobile positioning module also includes:

[0013] A map building component is used to locate its own position based on environmental features repeatedly observed by the mobile positioning module. The map building component is electrically connected to the dynamic fusion navigation and positioning component.

[0014] Furthermore, the electromagnetic wave characteristics transmitted by the multi-source positioning signal module include frequency.

[0015] Furthermore, the electromagnetic wave characteristics transmitted by the multi-source positioning signal module also include a sequence.

[0016] Furthermore, the mobile positioning module also includes:

[0017] A filtering component is provided to filter out noise from the electromagnetic wave signal received by the signal receiving component. The signal receiving component and the dynamic fusion navigation and positioning component are electrically connected through the filtering component.

[0018] Preferably, the method by which the filtering component filters noise in the electromagnetic wave signal received by the mobile positioning module is as follows:

[0019] S01. A sampling sequence is formed by continuously sampling the electromagnetic wave signal M times. The sampled values ​​in the sampling sequence are arranged in order of magnitude, and the middle value is taken as the valid value of this sampling sequence. The next sampling sequence is executed until the signal is interrupted. M is an odd number.

[0020] S02. Treat the consecutive O sampled valid values ​​in step S01 as a queue with a fixed length of O. Following the first-in-first-out principle, each time a new data is sampled, it is placed at the tail of the queue, and the data at the head of the queue is discarded. The valid signal is obtained by performing an arithmetic average on the O data in the queue.

[0021] Preferably, step S01 uses the bubble sorting method to sort the sampling sequence.

[0022] The beneficial effects of this invention are as follows: Compared with the prior art, this invention utilizes a multi-source positioning signal module with different emission signal characteristics, and ensures that at least two electromagnetic wave signals with different characteristics are included in any space underground in a coal mine. This creates a space with different electromagnetic wave distribution characteristics in the coal mine roadway. Before positioning, a positioning database is obtained by correlating the electromagnetic wave intensity in the underground coal mine space with the position coordinates using a mobile positioning module. During positioning, the mobile positioning module matches the detected electromagnetic wave intensity with the electromagnetic wave intensity in the positioning database to obtain the positioning result. This invention is not affected by the obstruction of the coal mine wall during positioning; positioning can be performed wherever electromagnetic waves can reach, resulting in higher positioning stability. Furthermore, the distribution characteristics of electromagnetic waves in space are characteristics resulting from the superposition of multipath effects; therefore, the positioning result is not affected by multipath effects, resulting in high positioning accuracy. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the present invention;

[0024] Figure 2 This is a structural block diagram of the present invention. Detailed Implementation

[0025] The invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0026] The main reasons for the poor positioning stability and accuracy of existing technologies used for underground coal mine positioning are as follows: First, the complex and curved shape of coal mine shafts makes it easy for positioning signals to be blocked, causing triangulation technology to frequently fail, resulting in poor positioning stability; Second, the complex shape of coal mine shaft walls makes it easy for electromagnetic waves to be reflected underground, forming multiple components, which distorts the original signal and causes severe multipath effects, resulting in poor positioning accuracy.

[0027] To address the issues of poor stability and accuracy in existing triangulation techniques, reference... Figures 1 to 2 This embodiment employs a navigation and positioning system for an underground auxiliary transportation device in a coal mine. The positioning system includes:

[0028] Multi-source positioning signal module 2, which is used to send electromagnetic wave signals with different characteristics, includes n multi-source positioning signal modules, where n is a positive integer greater than 2, and the multi-source positioning signal module 2 is installed in the underground coal mine 1. The electromagnetic wave signals with different characteristics in any space of the underground coal mine 1 include at least 2.

[0029] Mobile positioning module 3, the mobile positioning module 3 includes a signal receiving component 3-1 and a dynamic fusion navigation and positioning component 3-5, the signal receiving component 3-1 and the dynamic fusion navigation and positioning component 3-5 are electrically connected;

[0030] The signal receiving component 3-1 is used to receive electromagnetic waves emitted by the multi-source positioning signal module 2;

[0031] The dynamic fusion navigation and positioning component 3-5 is used to analyze the correlation between the intensity of each electromagnetic wave and the position coordinates received by the signal receiving component 3-1 when constructing the positioning database. When performing the positioning task, the dynamic fusion navigation and positioning component 3-5 is used to match the detected intensity of each electromagnetic wave with the intensity of each electromagnetic wave in the positioning database. The position coordinates associated with the most matched intensity of each electromagnetic wave in the positioning database are the positioning results.

[0032] In use, a multi-source positioning signal module 2 with different emission signal characteristics is utilized, ensuring that at least two electromagnetic wave signals with different characteristics are present in any space within the coal mine underground 1. This creates a space with different electromagnetic wave distribution characteristics in the coal mine roadway. Before positioning, a positioning database is obtained by correlating the electromagnetic wave intensity in the space of the coal mine underground 1 with the position coordinates using a mobile positioning module 3. During positioning, the mobile positioning module 3 matches the detected electromagnetic wave intensity with the electromagnetic wave intensity in the positioning database to obtain the positioning result. This invention is not affected by the obstruction of the coal mine wall during positioning; positioning can be performed wherever electromagnetic waves can reach, resulting in higher positioning stability. Furthermore, the distribution characteristics of electromagnetic waves in space are characteristics resulting from the superposition of multipath effects; therefore, the positioning result is not affected by multipath effects, leading to high positioning accuracy.

[0033] Since the distribution characteristics of electromagnetic waves may be similar at certain points, this may lead to errors in the positioning results of this positioning method.

[0034] To address this issue, in this embodiment, the mobile positioning module 3 further includes an inertial positioning component 3-2. The inertial positioning component 3-2 is used to integrate the acceleration of the mobile positioning module 3 twice, and uses the position coordinates located by the electromagnetic wave characteristics received by the signal receiving component 3-1 as the initial position. It then calculates the current position coordinates of the mobile positioning module 3 by combining the initial value and the two integral values ​​of the acceleration of the mobile positioning module 3. The inertial positioning module is electrically connected to the dynamic fusion navigation and positioning component 3-5. If, during the positioning task, the number of electromagnetic wave intensities matching each other with the electromagnetic wave intensities in the positioning database is greater than one, the dynamic fusion navigation and positioning component 3-5 is further used to compare the position coordinates located by the current electromagnetic wave characteristics with the position coordinates calculated by the inertial positioning component 3-2, and takes the position coordinates corresponding to the electromagnetic wave intensities in the positioning database that are closest to the position coordinates calculated by the inertial positioning component 3-2 as the positioning result.

[0035] The inertial positioning component 3-2 is used to calculate the trajectory, thereby calculating the position coordinates of the mobile positioning module 3 at each moment. Since the movement of the mobile positioning module 3 in space is continuous, this principle can be used to exclude points that are far from the position coordinates calculated by the inertial positioning component 3-2, thus avoiding the problem of multiple matching points in the positioning database.

[0036] To more intuitively display the location of the mobile positioning module 3, in this embodiment, the mobile positioning module 3 further includes a map building component 3-3, which is used to locate its own position based on the environmental features repeatedly observed by the mobile positioning module 3, and is electrically connected to the dynamic fusion navigation and positioning component 3-5.

[0037] Furthermore, the electromagnetic wave characteristics transmitted by the multi-source positioning signal module 2 include frequency.

[0038] The electromagnetic waves emitted by the different multi-source positioning signal modules 2 are distinguished by frequency.

[0039] In order to distinguish between the electromagnetic waves emitted by the multi-source positioning signal module 2 and the environmental noise electromagnetic waves, in this embodiment, the electromagnetic wave characteristics emitted by the multi-source positioning signal module 2 further include a sequence.

[0040] Due to factors such as mineral layers, the underground geomagnetic environment is complex, resulting in significant noise in the received electromagnetic waves, making it difficult to extract their features.

[0041] To address the aforementioned issues, in this embodiment, the mobile positioning module 3 further includes a filtering component 3-4. The filtering component 3-4 is used to filter out noise in the electromagnetic wave signal received by the signal receiving component 3-1. The signal receiving component 3-1 and the dynamic fusion navigation and positioning component 3-5 are electrically connected through the filtering component 3-4.

[0042] The electromagnetic noise in mines mainly includes pulse noise caused by electrical sparks generated by underground metals, cables, thyristors, and transformers, as well as random noise generated by multiple reflections of electromagnetic waves in the mine.

[0043] To address this issue, preferably, the filtering components 3-4 filter noise in the electromagnetic wave signal received by the motion positioning module 3 using the following method:

[0044] S01. A sampling sequence is formed by continuously sampling the electromagnetic wave signal M times. The sampled values ​​in the sampling sequence are arranged in order of magnitude, and the middle value is taken as the valid value of this sampling sequence. The next sampling sequence is executed until the signal is interrupted. M is an odd number.

[0045] S02. Treat the consecutive O sampled valid values ​​in step S01 as a queue with a fixed length of O. Following the first-in-first-out principle, each time a new data is sampled, it is placed at the tail of the queue, and the data at the head of the queue is discarded. The valid signal is obtained by performing an arithmetic average on the O data in the queue.

[0046] Here, extremely large and extremely small impulse noise is filtered out through step S01, and random noise is filtered out through step S02. The filtering speed is fast, ensuring the real-time performance of the filtering.

[0047] To improve the efficiency of data sorting, in this embodiment, step S01 preferably uses the bubble sorting method to sort the sample sequence.

[0048] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A navigation and positioning system for an underground auxiliary transportation device in a coal mine, characterized in that, The positioning system includes: Multi-source positioning signal module (2), the multi-source positioning signal module (2) is used to send electromagnetic wave signals with different characteristics, the multi-source positioning signal module (2) includes n, where n is a positive integer greater than 2, the multi-source positioning signal module (2) is installed in the coal mine underground (1), and the electromagnetic wave signals with different characteristics in any space in the coal mine underground (1) include at least 2; The mobile positioning module (3) includes a signal receiving component (3-1) and a dynamic fusion navigation and positioning component (3-5), and the signal receiving component (3-1) and the dynamic fusion navigation and positioning component (3-5) are electrically connected. The signal receiving component (3-1) is used to receive electromagnetic waves emitted by the multi-source positioning signal module (2); The dynamic fusion navigation and positioning component (3-5) is used to analyze the correlation between the intensity of each electromagnetic wave and the position coordinates received by the signal receiving component (3-1) when constructing the positioning database. When performing the positioning task, the dynamic fusion navigation and positioning component (3-5) is used to match the detected intensity of each electromagnetic wave with the intensity of each electromagnetic wave in the positioning database. The position coordinates associated with the most matched intensity of each electromagnetic wave in the positioning database are the positioning results. The mobile positioning module (3) also includes: An inertial positioning component (3-2) is used to integrate the acceleration of the mobile positioning module (3) twice, and use the position coordinates located by the electromagnetic wave characteristics received by the signal receiving component (3-1) as the initial position. The current position coordinates of the mobile positioning module (3) are calculated by combining the initial value and the integral value of the acceleration of the mobile positioning module (3). The inertial positioning module is electrically connected to the dynamic fusion navigation and positioning component (3-5). If the number of electromagnetic wave intensities that match each electromagnetic wave intensity in the positioning database is greater than 1 when performing the positioning task, the dynamic fusion navigation and positioning component (3-5) is also used to compare the position coordinates located by the current electromagnetic wave features with the position coordinates calculated by the inertial positioning component (3-2), and take the position coordinates corresponding to the electromagnetic wave intensities in the positioning database that are closest to the position coordinates calculated by the inertial positioning component (3-2) as the positioning result. The electromagnetic wave characteristics transmitted by the multi-source positioning signal module (2) include frequency; The electromagnetic wave characteristics transmitted by the multi-source positioning signal module (2) also include a sequence; The mobile positioning module (3) also includes: The filtering component (3-4) is used to filter noise in the electromagnetic wave signal received by the signal receiving component (3-1). The signal receiving component (3-1) and the dynamic fusion navigation and positioning component (3-5) are electrically connected through the filtering component (3-4). The filtering component (3-4) filters noise in the electromagnetic wave signal received by the mobile positioning module (3) using the following method: S01. A sampling sequence is formed by continuously sampling the electromagnetic wave signal M times. The sampled values ​​in the sampling sequence are arranged in order of magnitude, and the middle value is taken as the valid value of this sampling sequence. The next sampling sequence is executed until the signal is interrupted. M is an odd number. S02. Treat the consecutive O sampled valid values ​​in step S01 as a queue with a fixed length of O. Following the first-in-first-out principle, each time a new data is sampled, it is placed at the tail of the queue, and the data at the head of the queue is discarded. The valid signal is obtained by performing an arithmetic average on the O data in the queue.

2. The navigation and positioning system for underground auxiliary transportation devices in coal mines according to claim 1, characterized in that, The mobile positioning module (3) also includes: Map building component (3-3) is used to locate its own position based on the environmental features repeatedly observed by the mobile positioning module (3). Map building component (3-3) is electrically connected to dynamic fusion navigation and positioning component (3-5).

3. The navigation and positioning system for underground auxiliary transportation devices in coal mines according to claim 1, characterized in that, Step S01 uses the bubble sorting method to sort the sampling sequence.

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