A method for allocating positioning time slots in underground mines

Abstract

This invention relates to a method for allocating time slots for positioning in underground mines, belonging to the field of precise mine positioning technology. The method specifically comprises: S1, setting the basic transmission cycle and random time slot generation range of the personnel positioning terminal through the underground personnel positioning management system, and broadcasting this information to the personnel positioning terminal via a base station; S2, the personnel positioning terminal determines the transmission time slot using a random number generation algorithm; S3, during the determination of the transmission time slot, the personnel positioning terminal selects whether to perform positioning based on the presence of positioning frames in the air; S4, after positioning, the transmission time slot of the personnel positioning terminal is saved. This invention effectively avoids positioning failures caused by positioning collisions in multi-terminal positioning modes, improving the positioning success rate.

Description

Technical Field

[0001] This invention belongs to the field of precise positioning technology in mines, and relates to personnel management, particularly to a method for allocating positioning time slots in underground mines. Background Technology

[0002] Currently, underground personnel positioning management systems in coal mines based on UWB precise positioning technology typically rely on terminals to actively initiate positioning requests. When multiple terminals in an area randomly send positioning frames, collisions can occur, leading to positioning failures. Furthermore, the more terminals there are, the more positioning failures occur. Therefore, time-slot management for multiple terminals is necessary to improve the success rate of positioning.

[0003] Depending on the positioning algorithm and the on-site deployment scheme, positioning can be divided into single-base station positioning and multi-base station joint positioning. Single-base station positioning can only achieve one-dimensional positioning, while multi-base station positioning can achieve one- to three-dimensional positioning. In single-base station positioning mode, the terminal generally adopts a network access mechanism. During network access, the base station uses the Time Division Multiple Access (TDMA) scheduling algorithm to allocate time slots. The terminal performs positioning and sleep management based on the received time slots. Single-base station mode suffers from low concurrency capacity and cannot fully meet the needs of on-site applications. In multi-base station mode, the terminal periodically sends positioning frames, and multiple base stations receive and jointly position them. In multi-base station mode, to improve concurrency, the network access mechanism cannot be used for allocation management. The terminal randomly sends positioning frames within the sending period, which can lead to positioning failures due to collisions between multiple terminals. Therefore, to address the shortcomings of existing personnel positioning, it is necessary to design an effective time slot allocation method to improve positioning reliability. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a method for allocating positioning time slots in underground mines to solve the problem of multi-terminal positioning collision.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A method for allocating positioning time slots in underground mines, the method is as follows:

[0007] S1. Set the basic transmission cycle T of the personnel positioning terminal through the underground personnel positioning management system. m and random time slot range T s And it is broadcast to the personnel positioning terminal via base station;

[0008] S2. The personnel positioning terminal determines the transmission time slot;

[0009] S3. During the transmission time slot, the personnel positioning terminal determines whether to perform positioning based on whether there is a positioning frame in the air.

[0010] S4. After positioning, save the transmission time slot of the personnel positioning terminal.

[0011] Further, step S2 includes the following steps:

[0012] S21. The personnel positioning terminal generates random time slots through a random number generation algorithm;

[0013] S22. Add the basic positioning transmission period to the random time slot to obtain the transmission time slot of the personnel positioning terminal.

[0014] Furthermore, in step S21, the process of generating random time slots is as follows:

[0015] 1) Obtain the random time slot range based on the random number generation range and the maximum time it takes for the positioning frame to be sent from the terminal to the base station;

[0016] 2) Convert the maximum value of the random time slot range into binary machine code BIN0, and obtain the number of bits D0 of the binary machine code;

[0017] 3) The personnel positioning terminal reads the UUID and UTC time of the UWB chip, obtains the D0 / 2 bits of the UUID binary code to form the binary number BIN1, and obtains the D0 / 2 bits of the UTC time binary code to form the binary number BIN2; wherein, both BIN1 and BIN2 are formed by taking the D0 / 2 bits in order from the least significant bit to the most significant bit.

[0018] 4) Perform bitwise AND operations on the high D0 / 2 bits and low D0 / 2 bits of Bin0 using Bin1 and Bin2 respectively to obtain the new binary number Bin3, T n =BIN3×T0 is the random time slot, where T0 represents the maximum time from when the positioning frame is sent from the terminal to when it is received by the base station.

[0019] Furthermore, in step S3, if no positioning frame is detected in the air, the personnel positioning terminal sends a positioning frame in the transmission time slot and saves the transmission time slot; if a positioning frame is detected in the air, the personnel positioning terminal regenerates a random time slot until the positioning frame is successfully sent.

[0020] Furthermore, after the personnel positioning terminal successfully sends a positioning frame, in the next positioning cycle, the personnel positioning terminal sends a positioning frame at the saved transmission time slot to perform positioning.

[0021] The beneficial effects of this invention are as follows: This invention adopts a fusion processing method of basic period, random time slot and dynamic listening, which solves the problem of multi-terminal positioning collision, improves the success rate of personnel positioning in mines, and ensures the safety of underground personnel.

[0022] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0023] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0024] Figure 1 This is a schematic diagram of the location time slot allocation method. Detailed Implementation

[0025] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0026] This invention addresses the problem of positioning failure caused by multi-terminal positioning collisions in multi-base station joint positioning schemes in underground mines, and provides a positioning time slot allocation method, such as... Figure 1 As shown, this method first determines the basic transmission period and random timeslot generation range of the personnel positioning terminal through the underground personnel positioning management system. This information is sent to the base station via the host computer, and then broadcast to the personnel positioning terminal by the base station. The basic transmission period is defined as T. m To define the basic period for personnel positioning terminals to actively send positioning frames, it can be set to, for example, T. m =1000ms; the random time slot range is defined as T s This is used to define the range of random time slots generated by personnel positioning terminals within the coverage area of ​​a base station signal, for example, defined as T. s =200, then the random time slot range that the personnel positioning terminal can generate is 0~200ms, and the random time slot range T s It cannot be greater than the basic period T m .

[0027] Random time slot generation process:

[0028] 1) Assuming the maximum time it takes for a UWB positioning frame to be sent from the terminal to the base station is T0, then within the random time slot range T sInside, there is T S / T0 = N0 time slots. The random number range of the time slots is 0 to N0; convert N0 into binary machine code BIN0, and obtain the number of bits D0 of BIN0.

[0029] 2) During the initialization process, the terminal reads the UUID of the UWB chip. The UUID is the physical address of the UWB chip within the terminal and is globally unique. It also reads the UTC time in real time. Before time slot allocation, it first obtains the D0 / 2 bits of the UUID and the UTC real-time time, BIN1 and BIN2. Then, it performs a bitwise AND operation on the high and low D0 / 2 bits of BIN0 with BIN1 and BIN2 respectively to obtain the new binary machine code BIN3. n =BIN3×T0 is the random time slot for the terminal to send the positioning frame.

[0030] Both BIN1 and BIN2 are formed by taking D0 / 2 bits in order from the least significant bit to the most significant bit.

[0031] When the personnel positioning terminal reaches its positioning cycle, it generates a random timeslot using a random number generation algorithm. The base transmission cycle is then added to this random timeslot to obtain a transmission timeslot. Simultaneously, while determining the transmission timeslot, the personnel positioning terminal listens for positioning frames transmitted by other terminals in the air. If no positioning frames are present, the personnel positioning terminal transmits a positioning frame at the specified timeslot and saves the timeslot. In the next positioning cycle, the personnel positioning terminal transmits a positioning frame at the saved timeslot. If positioning frames are present, the personnel positioning terminal regenerates random numbers until the positioning frame is successfully transmitted.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for allocating positioning time slots in underground mines, characterized in that: The method is as follows: S1. Set the basic transmission cycle and random time slot generation range of the personnel positioning terminal through the underground personnel positioning management system, and broadcast the data to the personnel positioning terminal through the base station. S2. The personnel positioning terminal determines the transmission time slot; S21. The personnel positioning terminal generates random time slots through a random number generation algorithm, as follows: 1) Obtain the random time slot range based on the random number generation range and the maximum time it takes for the positioning frame to be sent from the terminal to the base station; 2) Convert the maximum value of the random time slot range into binary machine code BIN0, and obtain the number of bits in this binary machine code. ; 3) The personnel positioning terminal reads the UUID and UTC real-time of the UWB chip to obtain the UUID binary code. The bits form a binary number BIN1, which is used to obtain the UTC time binary code. The bits form the binary number BIN2; 4) Use BIN1 and BIN2 respectively to adjust the high of BIN0. Position and low Perform a bitwise AND operation on each bit to obtain the new binary number BIN3. That is, random time slots, where, This indicates the maximum time it takes for the location frame to be sent from the terminal to the base station. S22. Add the positioning refresh period to the random time slot to obtain the transmission time slot of the personnel positioning terminal; S3. During the transmission time slot, the personnel positioning terminal selects whether to perform positioning based on whether there is a positioning frame in the air. S4. After positioning, save the transmission time slot of the personnel positioning terminal.

2. The method for allocating positioning time slots in a mine according to claim 1, characterized in that: In the binary code of UUID, take the bits from the least significant bit to the most significant bit. The bits form Bin1; in the UTC-time binary code, the bits are taken from the least significant bit to the most significant bit. The position forms BIN2.

3. The method for allocating positioning time slots in a mine according to claim 1, characterized in that: In step S3, if there is no positioning frame in the air, the personnel positioning terminal sends the positioning frame in the transmission time slot and saves the transmission time slot; if there is a positioning frame in the air, the personnel positioning terminal regenerates a random time slot until the positioning frame is successfully sent.

4. The method for allocating positioning time slots in a mine according to claim 3, characterized in that: After the personnel positioning terminal successfully sends a positioning frame, it will send a positioning frame for positioning in the next positioning cycle at the saved transmission time slot.

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