A mine personnel positioning method and system based on wireless communication

Abstract

The present application provides a method and system for positioning personnel in a mine based on wireless communication, which relates to the field of mine safety technology. The method includes: data collection, model construction, prediction structure, definition of base station position and quantity, installation of UWB base station, setting of base station parameters, personnel positioning and positioning display steps; the system includes: data collection module, model construction module, prediction structure module, definition of base station position and quantity module, installation of UWB base station module, setting of base station parameter module, personnel positioning module and positioning display module. The present application defines the installation position and quantity of UWB base stations and installs UWB base stations according to the predicted number of coal mine shaft passages and the predicted terrain structure, sets base station parameters, and performs personnel positioning and display through UWB base stations, thus overcoming the signal interference of radio waves in the process of channel propagation caused by the dynamic changes in the number of coal mine shaft passages and terrain structure, and achieving the purpose of improving the accuracy of underground personnel positioning.

Description

Technical Field

[0001] The present application relates to the field of mine safety technology, and in particular to a mine personnel positioning method and system based on wireless communication. Background Art

[0002] In coal mine production operations, it is necessary to accurately locate the underground personnel of coal mines, and UWB technology is often used to locate the underground personnel. Existing underground personnel positioning technologies in coal mines based on UWB technology mostly rely on the reliable connection of communication signals between signal transmitting base stations and underground personnel locators to achieve accurate positioning of underground personnel in coal mines. However, the structure of coal mine passages is easily affected by geological effects and mining operations, which makes it easy for the number of coal mine passages and terrain structures to change dynamically. At the same time, due to the crisscrossing of coal mine passages, the intersections and turns of passages are easy to block the propagation of radio waves. In addition, radio waves are easily blocked by obstacles during the propagation of channels, forming diffraction, scattering, superposition of diffraction and scattering, co-frequency interference, adjacent frequency interference, intermodulation interference, etc., which interfere with the reliable and accurate acquisition of underground personnel positioning in coal mines.

[0003] The Chinese invention patent with application publication number CN117098142B provides a method and system for positioning personnel underground in coal mines based on UWB technology. The method collects and compares the characteristic data of coal mine passages in real time to identify the characteristic data of terrain changes in the coal mine passages, uses the characteristic data of terrain changes in the coal mine passages to generate a three-dimensional digital model of the terrain of the coal mine passages, analyzes the terrain characteristics of the coal mine passages, dynamically installs the distribution settings of UWB signal base stations, and updates the UWB signal base station settings in a timely and accurate manner according to changes in terrain characteristics, thereby ensuring the feasibility of positioning personnel underground.

[0004] In the above technical solution, in order to overcome the influence of dynamic changes in the number of coal mine passages and terrain structure, the terrain change characteristics of the coal mine passages are obtained, and the installation position of the UWB signal base station is dynamically set. However, frequent rearrangement of the base station in a continuously changing environment is very troublesome, and it is difficult to achieve real-time response. It may also cause the positioning system to fail in a short period of time, affecting the safety of personnel underground in the coal mine. Even if the UWB signal base station can dynamically adjust its position according to the changes in the mine passage, the metal equipment, walls and other structures in the mine will affect the propagation of the UWB signal. Even if the base station is rearranged, it is impossible to completely eliminate the influence of factors such as occlusion and reflection on the positioning accuracy of the UWB technology itself. Summary of the invention

[0005] In order to solve the impact of the number of coal mine passages and dynamic changes in terrain structure on the propagation of radio waves in the passages and to achieve the purpose of improving the precise positioning of underground personnel, the present application provides a mine personnel positioning method and system based on wireless communication.

[0006] In the first aspect, the present application provides a method for locating mine personnel based on wireless communication, which adopts the following technical solution:

[0007] A mine personnel positioning method based on wireless communication, the method comprising:

[0008] Data collection: including real-time data collection and historical data collection;

[0009] Collect real-time data: collect real-time data of coal mines; the real-time data of coal mines includes the number of coal mine passages, the geometric shape of coal mine passages, the location information of coal mine passages and the environmental data of coal mine passages;

[0010] Collect historical data: collect historical data of coal mines; the historical data of coal mines include historical coal mine passage data, the geometric shape of historical coal mine passages, the location information of historical coal mine passages, the distribution of historical coal mine passages and the environmental data of historical coal mine passages;

[0011] Model construction: Construct a coal mine shaft structure prediction model;

[0012] Prediction structure: Use real-time data as input to the coal mine structure prediction model to obtain the predicted number of coal mine passages and the predicted terrain structure;

[0013] Define the location and number of base stations: including defining the optimization problem, defining constraints and algorithm optimization;

[0014] Define the optimization problem: Construct the objective function with the goal of maximizing the positioning accuracy of the UWB base station;

[0015] Define constraints: Use the number of base stations, base station locations, signal coverage, environmental factors, and positioning accuracy requirements as constraints for the objective function;

[0016] Algorithm optimization: Based on the objective function and constraints, the ant colony optimization method is used to optimize the number of UWB base stations and the corresponding installation locations;

[0017] Install UWB base stations: install UWB base stations according to the obtained number of UWB base stations and corresponding installation locations;

[0018] Set base station parameters: set the transmission power and frequency of the UWB base station;

[0019] Personnel positioning: trigger the UWB positioning device of the underground personnel, the UWB base station receives the positioning signal sent by the UWB positioning device, locates the personnel, and obtains the personnel's position coordinates;

[0020] Positioning display: Construct an underground coal mine map based on the predicted number of coal mine passages and the predicted terrain structure, match the personnel location coordinates with the underground coal mine map, obtain the underground personnel coordinate map and display it through a display device.

[0021] By adopting the above technical solution, the number of underground channels and terrain structure of coal mines are predicted. By defining optimization problems, setting constraints reasonably and using ant colony optimization algorithms, the optimal installation position and number of UWB base stations are set to make them more adaptable to the dynamic changes in the coal mine environment. It can effectively deal with the impact of changes in the number of coal mine channels, terrain changes and environmental factors on signal propagation, ensure that the base station layout can cover the key areas of coal mines, reduce signal loss or interference caused by obstacles or changes in the number of channels, and help improve the positioning accuracy and reliability of UWB base stations, and achieve the accuracy and real-time positioning of personnel in coal mines. In addition, by adjusting the transmission power and frequency of the UWB base station to ensure the stable transmission of underground signals in coal mines, it also helps to improve positioning accuracy and reliability.

[0022] Optionally, after executing the step of building the model and before executing the step of predicting the structure, the method further includes:

[0023] Construct sample training set: Use historical data to construct sample training set;

[0024] Model training: Use the sample training set as the input of the coal mine structure prediction model, perform model inference, define the structure prediction loss function, optimize the coal mine structure prediction model by minimizing the loss function, and obtain the optimized coal mine structure prediction model as the new coal mine structure prediction model.

[0025] By adopting the above technical solution, constructing a sample training set, training a coal mine structure prediction model and optimizing the model, it is possible to achieve dynamic prediction of underground terrain and structure in coal mines. At the same time, setting the installation location and number of UWB base stations based on the prediction results can effectively cope with the impact of changes in the underground coal mine environment on radio wave propagation and personnel positioning, help optimize the propagation path of radio waves, reduce signal interference, and increase signal coverage, thereby improving the positioning accuracy and reliability of underground personnel positions.

[0026] Optionally, after executing the step of defining constraint conditions and before executing the step of algorithm optimization, the method further includes:

[0027] Division of base station quantity constraints: The base station quantity constraints are divided into fixed base station quantity constraints and mobile base station quantity constraints;

[0028] Base station location constraint division: Base station location constraint is divided into fixed base station location constraint and mobile base station location constraint.

[0029] By adopting the above technical solution, the constraints of the number and location of base stations are divided into two categories: fixed and mobile. The number and location of mobile base stations can be flexibly adjusted according to the actual environmental changes of the coal mine, ensuring that the optimization algorithm can find the optimal base station deployment solution under different constraints. This division method helps to improve the coverage of UWB signals and reduce signal distortion caused by diffraction, scattering, interference and other factors, thereby significantly improving the accuracy and robustness of underground personnel positioning.

[0030] Optionally, after performing the step of installing the UWB base station and before performing the step of setting base station parameters, the method further includes:

[0031] Signal strength setting: record the device that sends signals to the UWB base station as the target device, and set the strength of the signal sent by the target device as the target signal strength;

[0032] Mode selection: Select the path loss model, take the installation location of other UWB base stations with the smallest straight-line distance to the installation location of the current UWB base station as the location of the target device, use the path loss model to calculate the path loss power between the current UWB base station and the target device, and use the calculation result as the target path loss power of the current UWB base station;

[0033] Calculate the transmit power: Use the transmit power calculation formula to calculate the transmit power of the current UWB base station;

[0034] The transmit power calculation formula is:

[0035] ;

[0036] in, Indicates the current UWB base station transmission power, Indicates the signal strength of the target device. Indicates the target path loss power of the current UWB base station;

[0037] Frequency setting: Collect the working frequency bands of other equipment in the coal mine, filter out the frequency bands outside the working frequency bands of other equipment as the target frequency band, and randomly select a frequency in the target frequency band as the frequency of the current UWB base station.

[0038] By adopting the above technical solution, the transmit power of the UWB base station is calculated based on the signal strength and path loss power of the target device, which helps to optimize the transmit power of each base station to cope with environmental changes, ensure that the signal of the UWB base station can cover the target area, and avoid signal interference caused by excessive transmit power. In addition, by screening out the frequency band outside the working frequency band of other equipment in the coal mine as the target frequency band of the UWB base station, and randomly selecting the frequency in the target frequency band, the problems of co-channel interference, adjacent frequency interference, and intermodulation interference are effectively avoided. Moreover, through the precise calculation of path loss and transmit power and the interference avoidance of frequency selection, the working parameters of the UWB base station in the complex environment of the coal mine are optimized, which can effectively cope with the channel changes, terrain obstacles, signal attenuation and interference caused by the dynamic changes of the coal mine environment, and improve the positioning accuracy of underground personnel.

[0039] Optionally, after executing the step of frequency setting and before executing the step of setting base station parameters, the method further includes:

[0040] First power judgment: The UWB positioning device with the shortest distance from the current UWB base station is recorded as the first device, the strength of the signal sent by the current first device is collected and recorded as the first signal strength, the strength of the signal sent by the first device collected last time is obtained and recorded as the original signal strength, and it is determined whether the difference between the first signal strength and the original signal strength is less than the preset first difference threshold:

[0041] If yes, the value of the signal strength adjustment factor is recorded as 0, and the second power determination step is performed;

[0042] If not, the signal strength adjustment factor is calculated according to the signal strength adjustment factor calculation formula, and then the second power determination step is performed;

[0043] The signal strength adjustment factor calculation formula is:

[0044] ;

[0045] in, represents the signal strength adjustment factor, Indicates the maximum signal strength allowed by the current UWB base station. Indicates the original signal strength, represents the first signal strength;

[0046] Second power determination: collecting the path loss between the current UWB base station and the first device, recording it as the first path loss, obtaining the path loss between the UWB base station and the first device collected last time, recording it as the original path loss, and judging whether the difference between the first path loss and the original path loss is less than the preset second difference threshold:

[0047] If yes, the value of the channel condition adjustment factor is recorded as 0, and the third power determination step is performed;

[0048] If not, then calculate the channel condition adjustment factor according to the channel condition adjustment factor calculation formula, and then perform the third power determination step;

[0049] The channel condition adjustment factor calculation formula is:

[0050] ;

[0051] in, Indicates the channel condition adjustment factor, represents the original path loss, represents the first path loss, Indicates the preset maximum path loss value of the current UWB base station;

[0052] Third power judgment: collect the noise of the current UWB base station in the coal mine shaft passage, record it as the first noise, obtain the noise of the UWB base station in the coal mine shaft passage collected last time, record it as the original noise, and judge whether the difference between the first noise and the original noise is less than the preset third difference threshold:

[0053] If yes, the value of the noise interference adjustment factor is recorded as 0, and the power adjustment step is performed;

[0054] If not, the noise interference adjustment factor is calculated according to the noise interference adjustment factor calculation formula, and then the power adjustment step is performed;

[0055] The noise interference adjustment factor calculation formula is:

[0056] ;

[0057] in, represents the noise interference adjustment factor, represents the original noise, represents the first noise, Indicates the preset maximum noise value of the coal mine passage where the current UWB base station is located;

[0058] Power adjustment: Calculate the power adjustment value according to the power adjustment formula, and adjust the transmission power of the current UWB base station according to the power adjustment value;

[0059] The power adjustment formula is:

[0060] ;

[0061] in, Indicates the power adjustment value. represents the weight coefficient of the signal strength adjustment factor, Indicates the weight coefficient of the channel condition adjustment factor, Represents the weight coefficient of the noise interference adjustment factor.

[0062] By adopting the above technical scheme, the transmission power of the UWB base station is dynamically adjusted according to the comprehensive optimization of signal strength adjustment, channel conditions and noise interference, so as to ensure the stable propagation of signals in the complex environment of coal mines, effectively improve the quality of radio wave propagation in dynamically changing coal mine channels, reduce the interference of obstacles, channel structure changes, noise interference and other factors on positioning accuracy, and improve the positioning accuracy and stability of underground personnel.

[0063] Optionally, after performing the first power determination step and before performing the second power determination step, the method further includes:

[0064] First frequency determination: Determine whether the strength of the signal sent by the first device is greater than the preset target signal strength threshold:

[0065] If yes, then execute the second frequency determination step;

[0066] If not, then executing the first power determination step;

[0067] Second frequency determination: Determine whether the signal bit error rate of the current UWB base station is greater than the preset bit error rate threshold:

[0068] If yes, then the frequency band selection step is performed;

[0069] If not, no action will be taken;

[0070] Frequency band selection: collect the signal strength, signal error rate and interference strength of each target frequency band, calculate the comprehensive score of each target frequency band according to the comprehensive scoring formula, and select the target frequency band with the highest comprehensive score as the frequency band to be switched;

[0071] The comprehensive scoring formula is:

[0072] ;

[0073] in, represents the comprehensive score of the target frequency band, Indicates the signal strength of the target frequency band. Indicates the signal bit error rate of the target frequency band, Indicates the interference intensity of the target frequency band, Indicates the signal strength of the target frequency band The weight coefficient of express The weight coefficient of express The weight coefficient of

[0074] Frequency selection: obtain multiple frequencies from the frequency band to be switched, record them as candidate frequencies, obtain the spectrum idleness, bandwidth and interference intensity of each candidate frequency, calculate the comprehensive evaluation value of each candidate frequency according to the comprehensive evaluation formula, select the candidate frequency with the highest comprehensive evaluation value as the target frequency, and switch the frequency of the current UWB base station to the target frequency;

[0075] The comprehensive evaluation formula is:

[0076] ;

[0077] in, represents the comprehensive evaluation value of the candidate frequency, Indicates the idleness of the selected frequency. represents the bandwidth of the selected frequency, Indicates the interference intensity of the selected frequency, The weight coefficient representing the idleness of the candidate frequency, represents the weight coefficient of the bandwidth of the selected frequency, Represents the weight coefficient.

[0078] By adopting the above technical solution, setting multiple frequency discrimination and corresponding frequency band and frequency selection, it is possible to adjust the frequency and power of the signal in real time under the complex and dynamically changing environmental conditions in coal mines, avoid the influence of signal interference and bit errors on personnel positioning, and improve the signal quality. At the same time, it effectively reduces the positioning errors caused by spectrum interference, noise and environmental changes, and improves the accuracy and reliability of underground personnel positioning.

[0079] Optionally, after executing the step of locating the personnel and before executing the step of displaying the location, the method further includes:

[0080] First calculation: record the current UWB base station as the first base station, record the current UWB positioning device as the first positioning device, randomly select two UWB base stations, record them as the second base station and the third base station respectively, use the ADS-TWR ranging method to calculate the distances between the first positioning device and the first base station, the second base station and the third base station respectively, and obtain the first distance, the second distance and the third distance, which are recorded as the first data;

[0081] Second calculation: obtaining the position coordinates of the first base station, the second base station and the third base station, and calculating the position of the first positioning device through the first data, which is recorded as the first initial position;

[0082] Third calculation: using the TDOA measurement method, respectively calculating the time differences between the first base station, the second base station and the third base station, to obtain a first time difference, a second time difference and a third time difference, which are recorded as second data;

[0083] Fourth calculation: calculating the distances between the first positioning device and the first base station, the second base station and the third base station according to the second data, then obtaining the position coordinates of the first base station, the second base station and the third base station, calculating the position of the first positioning device, and recording it as the second initial position;

[0084] Fifth calculation: using the AOA measurement method to calculate the angles between the first base station, the second base station, and the third base station and the first positioning device, respectively, to obtain a first angle, a second angle, and a third angle, which are recorded as third data;

[0085] Sixth calculation: obtaining the position coordinates of the first base station, the second base station and the third base station, and calculating the position of the first positioning device through the third data, which is recorded as the third initial position;

[0086] Initialize Kalman filter: define Kalman filter state variables and initialize them;

[0087] Output positioning position: take the first data, the second data, the third data, the first initial position, the second initial position and the third initial position as observation values, input them into the Kalman filter for position update, and output the positioning position of the first positioning device as the new personnel position coordinates.

[0088] By adopting the above technical solutions, combined with multiple ranging methods (ADS-TWR, TDOA, AOA) and Kalman filters, it is possible to effectively cope with changes in the number of channels and terrain structure, as well as diffraction and scattering in radio wave propagation, thereby improving the accuracy of personnel positioning, achieving the purpose of accurate personnel positioning in the dynamically changing coal mine underground environment, and ensuring the safety of coal mine workers.

[0089] In a second aspect, the present application provides a mine personnel positioning system based on wireless communication, the positioning system is applicable to the positioning method described in any one of the first aspects above, and the positioning system adopts the following technical solution:

[0090] A mine personnel positioning system based on wireless communication, comprising:

[0091] Data collection module, including real-time data collection module and historical data collection module;

[0092] A real-time data collection module is used to collect real-time data of coal mines; the real-time data of coal mines include the number of coal mine passages, the geometric shape of coal mine passages, the location information of coal mine passages and the environmental data of coal mine passages;

[0093] A historical data collection module is used to collect historical data of coal mines; the historical data of coal mines include historical coal mine passage data, the geometric shape of historical coal mine passages, the location information of historical coal mine passages, the distribution of historical coal mine passages and the environmental data of historical coal mine passages;

[0094] Model building module, used to build coal mine shaft structure prediction model;

[0095] A prediction structure module is used to use real-time data as input to a coal mine shaft structure prediction model to obtain the predicted number of coal mine shaft passages and the predicted terrain structure;

[0096] The module for defining the location and quantity of base stations is connected to the module for predicting the structure and the module for installing the UWB base stations, including the unit for defining the optimization problem, the unit for defining the constraint conditions and the unit for algorithm optimization;

[0097] An optimization problem unit is defined to construct an objective function with the goal of maximizing the positioning accuracy of the UWB base station;

[0098] A constraint condition unit is defined, which is used to take the number of base stations, base station locations, signal coverage, environmental factors and positioning accuracy requirements as constraint conditions of the objective function;

[0099] An algorithm optimization unit, used to optimize the number of UWB base stations and corresponding installation locations by using an ant colony optimization method according to the objective function and constraint conditions;

[0100] Installing a UWB base station module, used to install the UWB base station according to the obtained number of UWB base stations and corresponding installation positions;

[0101] The base station parameter setting module is used to set the transmission power and frequency of the UWB base station;

[0102] The personnel positioning module is used to trigger the UWB positioning device of the underground personnel. The UWB base station receives the positioning signal sent by the UWB positioning device to locate the personnel and obtain the personnel's position coordinates;

[0103] The positioning display module is used to construct an underground coal mine map according to the predicted number of coal mine passages and the predicted terrain structure, match the personnel position coordinates with the underground coal mine map, obtain the underground personnel coordinate map and display it.

[0104] By adopting the above technical solution, a coal mine structure prediction model is constructed based on the model building module, the number of underground channels and terrain structure of the coal mine are predicted, and the optimal installation position and number of UWB base stations are set according to the prediction results. This ensures that the base station layout can cover the key areas of the coal mine, reduce signal loss or interference caused by obstacles or changes in the number of channels, and help improve positioning accuracy and reliability, and achieve accurate and real-time positioning of personnel underground in the coal mine.

[0105] In summary, the present application includes at least one of the following beneficial technical effects:

[0106] 1. Predict the number of underground channels and terrain structure of coal mines, set the optimal installation position and number of UWB base stations by defining optimization problems, setting constraints reasonably and using ant colony optimization algorithms, so that they can better adapt to the dynamic changes in the coal mine environment, effectively deal with the impact of changes in the number of channels, terrain and environmental factors on signal propagation, ensure that the base station layout can cover the key areas of coal mines, reduce signal loss or interference caused by obstacles or changes in the number of channels, help improve the positioning accuracy and reliability of UWB base stations, and achieve the accuracy and real-time positioning of personnel in coal mines. In addition, by adjusting the transmission power and frequency of the UWB base station to ensure the stable transmission of underground signals in coal mines, it also helps to improve positioning accuracy and reliability.

[0107] 2. Calculating the transmit power of the UWB base station based on the signal strength and path loss power of the target device helps optimize the transmit power of each base station to cope with environmental changes, ensure that the signal of the UWB base station can cover the target area, and avoid signal interference caused by excessive transmit power. In addition, by screening out the frequency band outside the working frequency band of other equipment in the coal mine as the target frequency band of the UWB base station, and randomly selecting the frequency in the target frequency band, the same-channel interference, adjacent-channel interference, intermodulation interference and other problems are effectively avoided.

[0108] 3. According to the comprehensive optimization of signal strength adjustment, channel conditions and noise interference, the transmission power of the UWB base station is dynamically adjusted to ensure the stable propagation of signals in the complex environment of coal mines, effectively improving the quality of radio wave propagation in dynamically changing coal mine channels, reducing the interference to positioning accuracy due to obstacles, channel structure changes, noise interference and other factors, and improving the positioning accuracy and stability of underground personnel.

[0109] 4. Combining multiple ranging methods (ADS-TWR, TDOA, AOA) with Kalman filters can effectively cope with changes in the number of channels and terrain structure, as well as diffraction and scattering in radio wave propagation, thereby improving the accuracy of personnel positioning, achieving the purpose of accurate personnel positioning in the dynamically changing coal mine underground environment, and ensuring the safety of coal mine workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0110] Figure 1 is a flow chart of Example 1 of the present application;

[0111] Figure 2 This is a flowchart of S4 defining the location and number of base stations in Example 1 of the present application;

[0112] Figure 3 This is a flowchart of S6 calculating base station parameters in Example 1 of the present application;

[0113] Figure 4 is a flowchart of S65 dynamic power adjustment of Example 1 of the present application;

[0114] Figure 5 is a flow chart of the dynamic frequency adjustment of S66 in Example 1 of the present application;

[0115] Figure 6 This is a flowchart of the precise positioning of S81 in Example 1 of the present application. DETAILED DESCRIPTION

[0116] The following combination Figures 1 to 6 This application is described in further detail.

[0117] Embodiment 1: This embodiment discloses a method for locating mine personnel based on wireless communication, such as Figure 1 As shown, the method includes: collecting real-time data of coal mines and historical data of coal mines, building a coal mine structure prediction model, using real-time data as input of the coal mine structure prediction model, obtaining the predicted number of coal mine passages and the predicted terrain structure, setting the number of UWB base stations and the corresponding installation positions, installing UWB base stations, setting the transmission power and frequency of the UWB base stations, triggering the UWB positioning device of underground personnel, the UWB base station receiving the positioning signal sent by the UWB positioning device, locating personnel, obtaining personnel position coordinates, building a coal mine underground map according to the predicted number of coal mine passages and the predicted terrain structure, matching the personnel position coordinates with the coal mine underground map, obtaining and displaying the underground personnel coordinate map, and the present embodiment includes the following steps:

[0118] S1 data collection: includes S11 real-time data collection and S12 historical data collection.

[0119] S11 collects real-time data: collects real-time data of coal mines. The real-time data of coal mines include the number of coal mine passages, the geometric shape of coal mine passages (including width, height and inclination), the location information of coal mine passages and the environmental data of coal mine passages (including temperature and humidity).

[0120] In this embodiment, the number of current coal mine passages and the corresponding location information can be queried through the coal mine management system, the real-time geometric shape of the coal mine passages can be obtained through laser scanners, three-dimensional sensors and other equipment, and the environmental data of the coal mine passages can be collected through temperature sensors and humidity sensors installed at different locations in the coal mine.

[0121] In this embodiment, when collecting real-time data of a coal mine, the number of coal mine passages, the geometric shape of the coal mine passages, the location information of the coal mine passages, and the environmental data of the coal mine passages collected at the same time point are taken as a set of real-time data of the coal mine.

[0122] S12 Collection of historical data: Collection of historical data of coal mines. The historical data of coal mines include historical coal mine passage data (including the number of historical coal mine passages, the excavation time of historical coal mine passages, and the closure records of historical coal mine passages), the geometric shape of historical coal mine passages (including width, height, inclination and depth), the location information of historical coal mine passages, the distribution of historical coal mine passages, and the environmental data of historical coal mine passages (including temperature and humidity).

[0123] In this embodiment, historical coal mine passage data, the geometric shapes of historical coal mine passages, location information of historical coal mine passages, the distribution of historical coal mine passages, and environmental data of historical coal mine passages collected at the same historical time point are taken as a group of historical data of coal mines.

[0124] S2 Model Construction: Construct a coal mine structure prediction model, which can use a long short-term memory network (LSTM) model as a basic model. The coal mine structure prediction model architecture includes an input layer, a bidirectional LSTM layer, a multi-task learning architecture, a shared underlying feature extraction, and an output layer.

[0125] The historical data is processed, including data cleaning and data normalization. Data cleaning includes operations such as denoising, processing missing values, and removing outliers for the collected real-time data and historical data.

[0126] Constructing a sample training set: After converting the historical data of each historical time point into a time series format, construct a sample training set;

[0127] Model training: define the structural prediction loss function, which includes regression loss function, classification loss function and multi-task loss function. Input the data in the sample training set into the coal mine structure prediction model, perform model inference, calculate the predicted value through forward propagation, and calculate the loss with the true value, use the back propagation algorithm to update the weight, optimize the structural prediction loss function, iterate the optimization until the structural prediction loss function converges or reaches the training round, and obtain the optimized coal mine structure prediction model as the new coal mine structure prediction model.

[0128] S3 prediction structure: Use real-time data as input to the coal mine shaft structure prediction model to obtain the predicted number of coal mine shaft passages and the predicted terrain structure.

[0129] S4 defines the location and number of base stations: including S41 defining the optimization problem, S42 defining the constraints and S43 algorithm optimization, such as Figure 2 shown.

[0130] S41 defines the optimization problem: construct an objective function with the goal of maximizing the positioning accuracy of the UWB base station.

[0131] .

[0132] in, represents the objective function, n represents the number of target points, Indicates target points, express The actual location of the target point, Indicates the calculated The location of the target point.

[0133] S42 defines constraint conditions: the number of base stations, base station locations, signal coverage, environmental factors and positioning accuracy requirements are used as constraint conditions of the objective function.

[0134] Base station quantity constraint: The base station quantity constraint is divided into fixed base station quantity constraint and mobile base station quantity constraint. Set a preset base station quantity threshold to limit the number of fixed base stations to be greater than twice the number of mobile base stations, and the sum of the number of fixed base stations and the number of mobile base stations to be less than the preset base station quantity threshold.

[0135] Base station location constraints: Base station location constraints are divided into fixed base station location constraints and mobile base station location constraints. Base station locations must not be placed near obstacles or walls.

[0136] The location constraint of fixed base stations is that fixed base stations need to cover the core area of ​​the mine. The location constraint of mobile base stations is that mobile base stations need to be deployed in flexible operation areas, including some temporary work areas in coal mines, near equipment or machinery that needs to be moved frequently, or in the expansion area of ​​coal mines.

[0137] Signal coverage range constraint: The base station deployment location must ensure that it can cover all target point areas.

[0138] Environmental factor constraints: The effective coverage range of each base station is calculated as a constraint by constructing an environmental signal attenuation model.

[0139] Positioning accuracy requirement constraints: Set a preset error threshold, and the positioning error of each target point must not be greater than the preset error threshold.

[0140] S43 algorithm optimization: including S431 initialization of pheromone, S432 ant search, S433 update of pheromone, S434 search iteration, S435 termination condition and S436 acquisition of base station quantity and location. According to the objective function and constraint conditions, the ant colony optimization method is used for optimization to obtain the number of UWB base stations and the corresponding installation locations.

[0141] S431 Initialize pheromone: set the initial pheromone concentration of each base station location.

[0142] S432 Ant Search: Each ant selects a base station location based on the current pheromone concentration and constructs a base station layout.

[0143] S433 Update pheromone: Update pheromone according to the quality of the search path.

[0144] The update formula is:

[0145] .

[0146] in, Indicates the pheromone concentration at the next moment, Indicates the pheromone concentration at the current moment, represents the evaporation coefficient, Indicates the current moment, Indicates the amount of pheromone updated when the ant chooses a path.

[0147] S434 Search iteration: Multiple ants search in the environment and select the optimal path based on the pheromone and heuristic information at the current moment.

[0148] S435 Termination condition: When the pheromone converges or reaches the maximum number of iterations, the search ends.

[0149] S436 Obtain the number and location of base stations: Obtain the number of UWB base stations and their installation locations based on the optimal path result selected by the ants.

[0150] S5 installs UWB base stations: the number of UWB base stations and the corresponding installation positions obtained by optimizing the S43 algorithm are used as the number of preset UWB base stations and the corresponding installation positions that need to be set, and the UWB base stations are installed according to the number of preset UWB base stations and the corresponding installation positions.

[0151] S6 calculates base station parameters: including S61 signal strength setting, S62 mode selection, S63 calculates transmit power and S64 frequency setting, such as Figure 3 shown.

[0152] S61 Signal strength setting: The device sending signals to the UWB base station is recorded as the target device. According to the needs of signal propagation, the signal strength sent by the target device is set and recorded as the target signal strength. In this embodiment, the target signal strength can be set as needed.

[0153] S62 mode selection: Select the path loss model. In this embodiment, the logarithmic distance path loss model is selected. The installation location of other UWB base stations with the smallest straight-line distance to the installation location of the current UWB base station is used as the location of the target device. The logarithmic distance path loss model is used to calculate the path loss power between the current UWB base station and the target device, and the calculation result is used as the target path loss power of the current UWB base station.

[0154] S63 calculates the transmission power: uses the transmission power calculation formula to calculate the transmission power of the current UWB base station.

[0155] The transmit power calculation formula is:

[0156] .

[0157] in, Indicates the current UWB base station transmission power, Indicates the signal strength of the target device. Indicates the target path loss power of the current UWB base station.

[0158] S64 frequency setting: obtain the working frequency bands of other equipment in the coal mine through spectrum analysis tools or system monitoring, filter out frequency bands outside the working frequency bands of other equipment as target frequency bands, and randomly select a frequency in the target frequency band as the frequency of the current UWB base station. This frequency must be able to meet the bandwidth requirements of UWB communication and avoid interference with other frequency bands.

[0159] In other embodiments, after executing S64 frequency setting and before executing S7 setting base station parameters, it also includes S65 power dynamic adjustment, and S65 power dynamic adjustment includes S651 first power determination, S652 second power determination, S653 third power determination and S654 power adjustment, such as Figure 4 shown.

[0160] S651 first power judgment: record the UWB positioning device with the shortest distance from the current UWB base station as the first device, collect the strength of the signal sent by the first device, record it as the first signal strength, obtain the strength of the signal sent by the first device collected last time, record it as the original signal strength, and determine whether the difference between the first signal strength and the original signal strength is less than the preset first difference threshold.

[0161] If yes, the value of the signal strength adjustment factor is recorded as 0, and the second power determination in S532 is performed.

[0162] If not, the signal strength adjustment factor is calculated according to the signal strength adjustment factor calculation formula, and then the second power determination in S532 is performed.

[0163] The signal strength adjustment factor calculation formula is:

[0164] .

[0165] in, represents the signal strength adjustment factor, Indicates the maximum signal strength allowed by the current UWB base station. Indicates the original signal strength, Indicates the first signal strength.

[0166] S652 second power judgment: collect the path loss between the current UWB base station and the first device, record it as the first path loss, obtain the path loss between the UWB base station and the first device collected last time, record it as the original path loss, and determine whether the difference between the first path loss and the original path loss is less than the preset second difference threshold.

[0167] If yes, the value of the channel status adjustment factor is recorded as 0, and the third power determination in S533 is performed.

[0168] If not, the channel condition adjustment factor is calculated according to the channel condition adjustment factor calculation formula, and then the third power determination in S533 is performed.

[0169] The channel condition adjustment factor calculation formula is:

[0170] .

[0171] in, Indicates the channel condition adjustment factor, represents the original path loss, represents the first path loss, Indicates the preset maximum path loss value of the current UWB base station.

[0172] S653 third power judgment: collect the noise of the current UWB base station in the coal mine shaft channel, record it as the first noise, obtain the noise of the UWB base station in the coal mine shaft channel collected last time, record it as the original noise, and determine whether the difference between the first noise and the original noise is less than the preset third difference threshold.

[0173] If yes, the value of the noise interference adjustment factor is recorded as 0, and the power adjustment step is performed.

[0174] If not, the noise interference adjustment factor is calculated according to the noise interference adjustment factor calculation formula, and then power adjustment is performed in S534.

[0175] The noise interference adjustment factor calculation formula is:

[0176] .

[0177] in, represents the noise interference adjustment factor, represents the original noise, represents the first noise, Indicates the preset maximum noise value of the coal mine channel where the current UWB base station is located.

[0178] S654 power adjustment: Calculate the power adjustment value according to the power adjustment formula, record the current transmit power of the UWB base station as the original transmit power, increase or decrease the calculated power adjustment value on the basis of the original transmit power, obtain the transmit power of the UWB base station that needs to be adjusted, record it as the first transmit power, and adjust the current transmit power of the UWB base station to the first transmit power.

[0179] The power adjustment formula is:

[0180] .

[0181] in, Indicates the power adjustment value. represents the weight coefficient of the signal strength adjustment factor, Indicates the weight coefficient of the channel condition adjustment factor, represents the weight coefficient of the noise interference adjustment factor, .

[0182] In this embodiment, the values ​​of the preset first difference threshold, the preset second difference threshold, and the preset third difference threshold can be set as needed.

[0183] In this embodiment, in S651, in the first power determination, the first device may select other UWB positioning devices or multiple UWB positioning devices as the first device as needed.

[0184] Example: Let the current UWB base station be base station 1, obtain the coverage area of ​​base station 1, and select four edge points located at different directions of base station 1 at the edge of the coverage area of ​​base station 1 as the location points of four UWB positioning devices. The four positioning devices are positioning device 1, positioning device 2, positioning device 3 and positioning device 4.

[0185] The strength of the signal sent by the positioning device 1 collected last time is obtained, recorded as signal strength 11, and the strength of the signal sent by the positioning device 1 currently is collected, recorded as signal strength 12, and it is determined whether the difference between the signal strength 11 and the signal strength 12 is less than the preset first difference threshold.

[0186] If so, the value of the signal strength adjustment factor of the positioning device 1 is recorded as 0, which is used as the signal strength adjustment factor for power adjustment.

[0187] If not, the signal strength adjustment factor of positioning device 1 is calculated according to the signal strength adjustment factor calculation formula, which is . Perform the above steps on positioning device 2, positioning device 3 and positioning device 4 respectively to obtain the signal strength adjustment factor of positioning device 2, the signal strength adjustment factor of positioning device 3 and the signal strength adjustment factor of positioning device 4. Compare the sizes of the four signal strength adjustment factors and select the signal strength adjustment factor with the largest value as the signal strength adjustment factor for power adjustment.

[0188] Afterwards, the path loss between the base station 1 and the positioning device 1 collected last time is obtained, recorded as path loss 11, and the path loss between the current base station 1 and the positioning device 1 is collected, recorded as path loss 12, and it is determined whether the difference between the path loss 11 and the path loss 12 is less than the preset second difference threshold.

[0189] If yes, the values ​​of the channel condition adjustment factors of the positioning device 1 and the base station 1 are recorded as 0, which is used as the channel condition adjustment factor for power adjustment.

[0190] If not, the channel condition adjustment factor between positioning device 1 and base station 1 is calculated according to the channel condition adjustment factor calculation formula, which is . Perform the above steps on positioning device 2, positioning device 3 and positioning device 4 respectively to obtain the channel condition adjustment factor between positioning device 2 and base station 1, the channel condition adjustment factor between positioning device 3 and base station 1, and the channel condition adjustment factor between positioning device 4 and base station 1. Compare the sizes of the four channel condition adjustment factors, and select the channel condition adjustment factor with the smallest value as the channel condition adjustment factor for power adjustment.

[0191] Afterwards, the noise of base station 1 in the coal mine shaft passage collected last time is obtained, recorded as noise 1, and the noise of base station 1 in the coal mine shaft passage currently collected is recorded as noise 2, and it is determined whether the difference between noise 1 and noise 2 is less than the preset third difference threshold.

[0192] If so, the value of the noise interference adjustment factor of base station 1 is recorded as 0, which is used as the noise interference adjustment factor for power adjustment.

[0193] If not, the noise interference adjustment factor of base station 1 is calculated according to the noise interference adjustment factor calculation formula, which is , as the noise interference adjustment factor for power adjustment.

[0194] According to the power adjustment formula, the power adjustment value is calculated, and the current transmission power of the UWB base station is recorded as the original transmission power. The calculated power adjustment value is increased or decreased on the basis of the original transmission power to obtain the transmission power of the UWB base station that needs to be adjusted, which is recorded as the first transmission power. The transmission power of the current UWB base station is adjusted to the first transmission power.

[0195] In this embodiment, a judgment time threshold is preset. Within the judgment time threshold, if the difference between the first signal strength and the original signal strength is greater than the preset first difference threshold, the difference between the first path loss and the original path loss is greater than the preset second difference threshold, and the difference between the first noise and the original noise is greater than the preset third difference threshold, then S654 power adjustment is performed; otherwise, within the judgment time threshold, the transmit power of the UWB base station is adjusted only once. The setting of the judgment time threshold is to avoid problems such as poor stability, increased error, and increased system resource consumption caused by frequent adjustments to the transmit power of the UWB base station in a very short period of time.

[0196] In this embodiment, the transmission power of the UWB base station is dynamically adjusted based on the comprehensive optimization of signal strength adjustment, channel conditions and noise interference, so as to ensure stable signal propagation in the complex environment of a coal mine, effectively improve the quality of radio wave propagation in the dynamically changing coal mine channels, reduce the interference to the positioning accuracy due to obstacles, channel structure changes, noise interference and other factors, and improve the positioning accuracy and stability of underground personnel.

[0197] In other embodiments, after executing S651 the first power determination and before executing 652 the second power determination, S66 frequency dynamic adjustment is also included, and S66 frequency dynamic adjustment includes S661 first frequency determination, S662 second frequency determination, S663 frequency band selection, and S664 frequency selection, such as Figure 5 shown.

[0198] S661 First frequency determination: Determine whether the strength of the signal sent by the first device is greater than a preset target signal strength threshold.

[0199] If yes, execute S662 second frequency determination.

[0200] If not, execute S661 first frequency determination.

[0201] S662 Second frequency determination: determine whether the signal bit error rate of the current UWB base station is greater than a preset bit error rate threshold.

[0202] If yes, perform S663 frequency band selection.

[0203] If not, no action will be taken.

[0204] S663 frequency band selection: collects the signal strength, signal error rate and interference strength of each target frequency band, calculates the comprehensive score of each target frequency band according to the comprehensive scoring formula, and selects the target frequency band with the highest comprehensive score as the frequency band to be switched.

[0205] The comprehensive scoring formula is:

[0206] .

[0207] in, represents the comprehensive score of the target frequency band, Indicates the signal strength of the target frequency band. Indicates the signal bit error rate of the target frequency band, Indicates the interference intensity of the target frequency band, Indicates the signal strength of the target frequency band The weight coefficient of express The weight coefficient of express The weight coefficient of .

[0208] S664 frequency selection: obtain multiple frequencies from the frequency band to be switched, record them as candidate frequencies, obtain the spectrum freeness, bandwidth and interference intensity of each candidate frequency, calculate the comprehensive evaluation value of each candidate frequency according to the comprehensive evaluation formula, select the candidate frequency with the highest comprehensive evaluation value as the target frequency, and switch the frequency of the current UWB base station to the target frequency.

[0209] The comprehensive evaluation formula is:

[0210] .

[0211] in, represents the comprehensive evaluation value of the candidate frequency, Indicates the idleness of the selected frequency. represents the bandwidth of the selected frequency, Indicates the interference intensity of the selected frequency, The weight coefficient representing the idleness of the candidate frequency, represents the weight coefficient of the bandwidth of the selected frequency, Represents the weight coefficient, .

[0212] In this embodiment, multiple frequency discrimination and corresponding frequency band and frequency selection are set, which can adjust the frequency and power of the signal in real time under the complex and dynamically changing environmental conditions in the coal mine, avoid the influence of signal interference and bit error on personnel positioning, and improve the signal quality. At the same time, the positioning error caused by spectrum interference, noise and environmental changes is effectively reduced, and the accuracy and reliability of underground personnel positioning are improved.

[0213] S7 sets base station parameters: uses the transmit power and frequency of the UWB base station calculated in S6 to calculate the base station parameters to set the transmit power and frequency of the UWB base station.

[0214] S8 Personnel Positioning: The UWB positioning device worn by the underground personnel is set to periodically send positioning signals. After the UWB base station receives the positioning signal sent by the UWB positioning device, it uses TDOA, AOA or ADS-TWR and other methods, and adopts collaborative positioning algorithm, triangle centroid optimization algorithm, maximum likelihood estimation optimization algorithm, triangulation optimization algorithm and other positioning algorithms to calculate the underground personnel position coordinates and obtain the personnel position coordinates.

[0215] In other embodiments, after executing S8 personnel positioning and before executing S9 positioning display, S81 precise positioning is also included, and S81 precise positioning includes S811 first calculation, S812 second calculation, S813 third calculation, S814 fourth calculation, S815 fifth calculation, S816 sixth calculation, S817 initialization of Kalman filter and S818 output of positioning position, such as Figure 6 shown.

[0216] S811 first calculation: record the current UWB base station as the first base station, record the current UWB positioning device as the first positioning device, randomly select two UWB base stations, record them as the second base station and the third base station respectively, use the ADS-TWR method to calculate the distance between the first positioning device and the first base station, record it as the first distance, calculate the distance between the first positioning device and the second base station, record it as the second distance, calculate the distance between the first positioning device and the third base station, record it as the third distance, and record the first distance, the second distance and the third distance as the first data.

[0217] S812 Second calculation: Obtain the position coordinates of the first base station, the second base station and the third base station, and calculate the position of the first positioning device through the first data, which is recorded as the first initial position.

[0218] S813 The third calculation: using the TDOA method, calculate the time difference between the first base station and the second base station, recorded as the first time difference, calculate the time difference between the second base station and the third base station, recorded as the second time difference, calculate the time difference between the first base station and the third base station, recorded as the third time difference, and record the first time difference, the second time difference and the third time difference as the second data.

[0219] S814 fourth calculation: calculate the distance between the first positioning device and the first base station according to the second data, record it as the first time distance, calculate the distance between the first positioning device and the second base station, record it as the second time distance, calculate the distance between the third positioning device and the first base station, record it as the third time distance, then obtain the position coordinates of the first base station, the second base station and the third base station, calculate the position of the first positioning device, record it as the second initial position.

[0220] S815 Fifth calculation: using the AOA method, calculate the angle between the first base station and the first positioning device, recorded as the first angle, calculate the angle between the second base station and the first positioning device, recorded as the second angle, calculate the angle between the third base station and the first positioning device, recorded as the third angle, and record the first angle, the second angle and the third angle as the third data.

[0221] S816 Sixth calculation: obtain the position coordinates of the first base station, the second base station and the third base station, calculate the position of the first positioning device through the third data, and record it as the third initial position.

[0222] S817 Initialize Kalman filter: define Kalman filter state variables and initialize them;

[0223] S818 outputs the positioning position including S8181 first environment calculation, S8182 second environment calculation, S8183 third environment calculation, S8184 fourth environment calculation, S8185 weight adjustment and S8186 position update.

[0224] S8181 First Environment Calculation: Preset the maximum signal-to-noise ratio as the initial signal-to-noise ratio, obtain the signal-to-noise ratios of the ADS-TWR method, TDOA method, and AOA method in the current coal mine, and use the formula , respectively calculate the ratios of the signal-to-noise ratios of the ADS-TWR method, the TDOA method, and the AOA method to the initial signal-to-noise ratio, normalize the obtained ratios, and obtain the first weight of the ADS-TWR method, the first weight of the TDOA method, and the first weight of the AOA method.

[0225] S8182 Second environment calculation: Preset the maximum path loss as the initial path loss, use the logarithmic distance path loss model to calculate the path loss of the current UWB base station in the current coal mine, record it as the real-time path loss, and determine whether the real-time path loss is less than the preset path loss threshold. If so, then according to the formula , calculate the first environment ratio of the TDOA method, the first environment ratio of the ADS-TWR method is equal to the first environment ratio of the TDOA method, and the difference between 1 and the first environment ratio of the TDOA method is used as the first environment ratio of the AOA method; if not, then according to the formula , calculate the first environment ratio of the AOA method, and take the difference between 1 and the first environment ratio of the AOA method as the first environment ratio of the ADS-TWR method, which is equal to the first environment ratio of the TDOA method. Then, the first environment ratios of the ADS-TWR method, the TDOA method, and the AOA method are normalized to obtain the second weight of the ADS-TWR method, the second weight of the TDOA method, and the second weight of the AOA method.

[0226] S8183 Third environment calculation: Obtain the noise intensity of the ADS-TWR method, TDOA method and AOA method in the current coal mine environment, according to the formula , respectively calculate the noise weights of the ADS-TWR method, the TDOA method, and the AOA method, and perform normalization on the obtained noise weights to obtain the third weight of the ADS-TWR method, the third weight of the TDOA method, and the third weight of the AOA method.

[0227] S8184 Fourth environment calculation: pre-set the maximum dust concentration, collect the current dust concentration in the coal mine, record it as the real-time dust concentration, and determine whether the real-time dust concentration is less than the preset dust concentration. If so, according to the formula , calculate the second environment ratio of the TDOA method and the second environment ratio of the TDOA method, and take the difference between 1 and the second environment ratio of the TDOA method as the second environment ratio of the AOA method; if not, then according to the formula , calculate the second environment ratio of the AOA method, and use the difference between 1 and the second environment ratio as the second environment ratio of the ADS-TWR method and the second environment ratio of the TDOA method. Then, the obtained second environment ratios of the ADS-TWR method, the TDOA method, and the AOA method are normalized to obtain the fourth weight of the ADS-TWR method, the fourth weight of the TDOA method, and the fourth weight of the AOA method.

[0228] S8185 Weight adjustment: Multiply the first weight, second weight, third weight and fourth weight corresponding to each method to obtain the initial weight of each method, normalize the initial weight of each method to obtain the final weight of the ADS-TWR method, the final weight of the TDOA method and the final weight of the AOA method. The sum of the final weight of the ADS-TWR method, the final weight of the TDOA method and the final weight of the AOA method is equal to 1.

[0229] in, represents the ratio of the signal-to-noise ratio of each method to the initial signal-to-noise ratio, represents the signal-to-noise ratio of each method in the current coal mine, represents the initial signal-to-noise ratio, represents the first ambient ratio of the TDOA method, represents the initial path loss, represents the real-time path loss, Indicates the first ambient ratio of the AOA method, represents the noise weight of each method, represents the noise intensity of each method, Represents the second environment ratio of each method, Indicates real-time dust concentration.

[0230] S8186 position update: The first data, the second data, the third data, the first initial position, the second initial position and the third initial position are taken as observation values ​​and input into the Kalman filter. In the Kalman filter, the input observation values ​​are weighted according to the final weights of each method calculated in the S8186 position update, the position is updated, and the positioning position of the first positioning device is output as the new personnel position coordinates.

[0231] S9 positioning display: According to the predicted number of coal mine passages and the predicted terrain structure, a coal mine underground map is constructed, and the personnel location coordinates are matched with the coal mine underground map. The coordinate conversion algorithm is used to map the obtained personnel location coordinates to the corresponding position of the coal mine underground map to obtain the underground personnel coordinate map, and it is displayed through an external display screen or monitoring center.

[0232] In this embodiment, when the ADS-TWR method is combined with the TDOA method, although TDOA can alleviate the clock synchronization problem, it is still affected by multipath and non-line-of-sight in the coal mine. The AOA method can not only increase the amount of information through angles, but also provide higher accuracy under line-of-sight conditions, avoiding the limitations of pure time measurement methods. The weights of the ADS-TWR method, TDOA method and AOA method are dynamically adjusted according to environmental changes within the coal mine, so that the most suitable positioning method can be selected under different environmental conditions, providing more accurate input for the Kalman filter, thereby obtaining the optimal positioning result, improving positioning accuracy and robustness, and being able to effectively cope with changes in the number of channels and terrain structure, environmental changes in the coal mine, and diffraction and scattering in radio wave propagation. Accurately and efficiently locate personnel in a dynamic coal mine environment to ensure the safety of coal mine workers.

[0233] Embodiment 2: This embodiment discloses a mine personnel positioning system based on wireless communication, the system comprising:

[0234] The data acquisition module includes a real-time data acquisition module and a historical data acquisition module.

[0235] The real-time data collection module is used to collect real-time data of coal mines. The real-time data of coal mines include the number of coal mine passages, the geometric shapes of coal mine passages, the location information of coal mine passages and the environmental data of coal mine passages.

[0236] The historical data collection module is used to collect historical data of coal mines. The historical data of coal mines include historical coal mine passage data, the geometric shape of historical coal mine passages, the location information of historical coal mine passages, the distribution of historical coal mine passages and the environmental data of historical coal mine passages.

[0237] Model building module, used to build coal mine shaft structure prediction model.

[0238] The prediction structure module is used to use real-time data as input to the coal mine shaft structure prediction model to obtain the predicted number of coal mine shaft passages and the predicted terrain structure.

[0239] The base station location and quantity module is defined, and is communicated and connected with the prediction structure module and the UWB base station installation module, including an optimization problem definition unit, a constraint condition definition unit and an algorithm optimization unit.

[0240] An optimization problem unit is defined to construct an objective function with the goal of maximizing the positioning accuracy of the UWB base station.

[0241] A constraint condition unit is defined, which is used to take the number of base stations, base station locations, signal coverage, environmental factors and positioning accuracy requirements as constraint conditions of the objective function.

[0242] The algorithm optimization unit is used to optimize the number of UWB base stations and the corresponding installation locations by using the ant colony optimization method according to the objective function and the constraint conditions.

[0243] The UWB base station module is installed to install the UWB base stations according to the obtained number of UWB base stations and corresponding installation positions.

[0244] The base station parameter calculation module is connected to the UWB base station installation module and the base station parameter setting module, and includes a signal strength setting unit, a mode selection unit, a transmission power calculation unit and a frequency setting unit.

[0245] The signal strength setting unit is used to record the device that sends signals to the UWB base station as the target device, and set the strength of the signal sent by the target device as the target signal strength.

[0246] The mode selection unit is used to select a path loss model, take the installation location of other UWB base stations with the smallest straight-line distance to the installation location of the current UWB base station as the location of the target device, use the path loss model to calculate the path loss power between the two, and use the calculation result as the target path loss power of the current UWB base station.

[0247] The transmit power calculation unit is used to calculate the transmit power of the current UWB base station using a transmit power calculation formula.

[0248] The transmit power calculation formula is:

[0249] .

[0250] in, Indicates the current UWB base station transmission power, Indicates the signal strength of the target device. Indicates the target path loss power of the current UWB base station.

[0251] The frequency setting unit is used to collect the working frequency bands of other equipment in the coal mine, filter out the frequency bands outside the working frequency bands of other equipment as the target frequency band, and randomly select a frequency in the target frequency band as the frequency of the current UWB base station.

[0252] The base station parameter setting module is used to set the transmission power and frequency of the UWB base station.

[0253] The personnel positioning module is used to trigger the UWB positioning device of the underground personnel. The UWB base station receives the positioning signal sent by the UWB positioning device to locate the personnel and obtain the personnel's position coordinates.

[0254] The positioning display module is used to construct an underground coal mine map according to the predicted number of coal mine passages and the predicted terrain structure, match the personnel position coordinates with the underground coal mine map, obtain the underground personnel coordinate map and display it.

[0255] In this embodiment, a coal mine structure prediction model is constructed based on the model building module, the number of underground passages and terrain structure of the coal mine are predicted, and the optimal installation position and number of UWB base stations are set according to the prediction results to ensure that the base station layout can cover the key areas of the coal mine, reduce signal loss or interference caused by obstacles or changes in the number of channels, help improve positioning accuracy and reliability, and achieve accurate and real-time positioning of personnel underground in the coal mine.

[0256] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A mine personnel positioning method based on wireless communication, characterized in that: The method comprises: Data collection: including real-time data collection and historical data collection; Collect real-time data: collect real-time data of coal mines; the real-time data of coal mines includes the number of coal mine passages, the geometric shape of coal mine passages, the location information of coal mine passages and the environmental data of coal mine passages; Collect historical data: Collect historical data of coal mines; historical data of coal mines include the number of historical coal mine passages, the excavation time of historical coal mine passages, the closure records of historical coal mine passages, the geometric shapes of historical coal mine passages, the location information of historical coal mine passages, the distribution of historical coal mine passages and the environmental data of historical coal mine passages; Model construction: Construct a coal mine shaft structure prediction model; Prediction structure: Use real-time data as input to the coal mine structure prediction model to obtain the predicted number of coal mine passages and the predicted terrain structure; Define the location and number of base stations: including defining the optimization problem, defining constraints and algorithm optimization; Define the optimization problem: Construct the objective function with the goal of maximizing the positioning accuracy of the UWB base station; Define constraints: Use the number of base stations, base station locations, signal coverage, environmental factors, and positioning accuracy requirements as constraints for the objective function; Algorithm optimization: Based on the objective function and constraints, the ant colony optimization method is used to optimize the number of UWB base stations and the corresponding installation locations; Install UWB base stations: install UWB base stations according to the obtained number of UWB base stations and corresponding installation locations; Set base station parameters: set the transmission power and frequency of the UWB base station; Personnel positioning: trigger the UWB positioning device of the underground personnel. After the UWB base station receives the positioning signal sent by the UWB positioning device, it locates the personnel and obtains the personnel's position coordinates; Positioning display: Construct an underground coal mine map based on the predicted number of coal mine passages and the predicted terrain structure, match the personnel location coordinates with the underground coal mine map, obtain the underground personnel coordinate map and display it.

2. The mine personnel positioning method based on wireless communication according to claim 1 is characterized in that: After executing the model building step and before executing the prediction structure step, it also includes: Construct sample training set: Use historical data to construct sample training set; Model training: Use the sample training set as the input of the coal mine structure prediction model, perform model inference, define the structure prediction loss function, optimize the coal mine structure prediction model by minimizing the loss function, and obtain the optimized coal mine structure prediction model as the new coal mine structure prediction model.

3. The mine personnel positioning method based on wireless communication according to claim 1, characterized in that: After the step of defining constraints and before the step of algorithm optimization, it also includes: Division of base station quantity constraints: The base station quantity constraints are divided into fixed base station quantity constraints and mobile base station quantity constraints; Base station location constraint division: Base station location constraint is divided into fixed base station location constraint and mobile base station location constraint.

4. The mine personnel positioning method based on wireless communication according to claim 1, characterized in that: After executing the step of installing the UWB base station and before executing the step of setting the base station parameters, the method further includes: Signal strength setting: record the device that sends signals to the UWB base station as the target device, and set the strength of the signal sent by the target device as the target signal strength; Mode selection: Select the path loss model, take the installation location of other UWB base stations with the smallest straight-line distance to the installation location of the current UWB base station as the location of the target device, use the path loss model to calculate the path loss power between the current UWB base station and the target device, and use the calculation result as the target path loss power of the current UWB base station; Calculate the transmit power: Use the transmit power calculation formula to calculate the transmit power of the current UWB base station; The transmit power calculation formula is: ； in, Indicates the current UWB base station transmission power, Indicates the signal strength of the target device. Indicates the target path loss power of the current UWB base station; Frequency setting: Collect the working frequency bands of other equipment in the coal mine, filter out the frequency bands outside the working frequency bands of other equipment as the target frequency band, and randomly select a frequency in the target frequency band as the frequency of the current UWB base station.

5. The mine personnel positioning method based on wireless communication according to claim 4 is characterized in that: After executing the step of frequency setting and before executing the step of setting base station parameters, the method further includes: First power judgment: The UWB positioning device with the shortest distance from the current UWB base station is recorded as the first device, the strength of the signal sent by the current first device is collected and recorded as the first signal strength, the strength of the signal sent by the first device collected last time is obtained and recorded as the original signal strength, and it is determined whether the difference between the first signal strength and the original signal strength is less than the preset first difference threshold: If yes, the value of the signal strength adjustment factor is recorded as 0, and the second power determination step is performed; If not, the signal strength adjustment factor is calculated according to the signal strength adjustment factor calculation formula, and then the second power determination step is performed; The signal strength adjustment factor calculation formula is: ； in, represents the signal strength adjustment factor, Indicates the maximum signal strength allowed by the current UWB base station. Indicates the original signal strength, Indicates the first signal strength; Second power determination: collecting the path loss between the current UWB base station and the first device, recording it as the first path loss, obtaining the path loss between the UWB base station and the first device collected last time, recording it as the original path loss, and judging whether the difference between the first path loss and the original path loss is less than the preset second difference threshold: If yes, the value of the channel condition adjustment factor is recorded as 0, and the third power determination step is performed; If not, then calculate the channel condition adjustment factor according to the channel condition adjustment factor calculation formula, and then perform the third power determination step; The channel condition adjustment factor calculation formula is: ； in, Indicates the channel condition adjustment factor, represents the original path loss, represents the first path loss, Indicates the preset maximum path loss value of the current UWB base station; Third power judgment: collect the noise of the current UWB base station in the coal mine shaft passage, record it as the first noise, obtain the noise of the UWB base station in the coal mine shaft passage collected last time, record it as the original noise, and judge whether the difference between the first noise and the original noise is less than the preset third difference threshold: If yes, the value of the noise interference adjustment factor is recorded as 0, and the power adjustment step is performed; If not, the noise interference adjustment factor is calculated according to the noise interference adjustment factor calculation formula, and then the power adjustment step is performed; The noise interference adjustment factor calculation formula is: ； in, represents the noise interference adjustment factor, represents the original noise, represents the first noise, Indicates the preset maximum noise value of the coal mine passage where the current UWB base station is located; Power adjustment: Calculate the power adjustment value according to the power adjustment formula, and adjust the transmission power of the current UWB base station according to the power adjustment value; The power adjustment formula is: ； in, Indicates the power adjustment value. represents the weight coefficient of the signal strength adjustment factor, Indicates the weight coefficient of the channel condition adjustment factor, Represents the weight coefficient of the noise interference adjustment factor.

6. The mine personnel positioning method based on wireless communication according to claim 5, characterized in that: After performing the first power determination step and before performing the second power determination step, the method further includes: First frequency determination: Determine whether the strength of the signal sent by the first device is greater than the preset target signal strength threshold: If yes, then execute the second frequency determination step; If not, then executing the first frequency determination step; Second frequency determination: Determine whether the signal bit error rate of the current UWB base station is greater than the preset bit error rate threshold: If yes, then the frequency band selection step is performed; If not, no action will be taken; Frequency band selection: collect the signal strength, signal error rate and interference strength of each target frequency band, calculate the comprehensive score of each target frequency band according to the comprehensive scoring formula, and select the target frequency band with the highest comprehensive score as the frequency band to be switched; The comprehensive scoring formula is: ； in, represents the comprehensive score of the target frequency band, Indicates the signal strength of the target frequency band. Indicates the signal bit error rate of the target frequency band, Indicates the interference intensity of the target frequency band, Indicates the signal strength of the target frequency band The weight coefficient of express The weight coefficient of express The weight coefficient of Frequency selection: obtain multiple frequencies from the frequency band to be switched, record them as candidate frequencies, obtain the spectrum idleness, bandwidth and interference intensity of each candidate frequency, calculate the comprehensive evaluation value of each candidate frequency according to the comprehensive evaluation formula, select the candidate frequency with the highest comprehensive evaluation value as the target frequency, and switch the frequency of the current UWB base station to the target frequency; The comprehensive evaluation formula is: ； in, represents the comprehensive evaluation value of the candidate frequency, Indicates the idleness of the selected frequency. represents the bandwidth of the selected frequency, Indicates the interference intensity of the selected frequency, The weight coefficient representing the idleness of the candidate frequency, represents the weight coefficient of the bandwidth of the selected frequency, Represents the weight coefficient.

7. The mine personnel positioning method based on wireless communication according to claim 1, characterized in that: After executing the step of locating the personnel and before executing the step of locating and displaying, the method further includes: First calculation: record the current UWB base station as the first base station, record the current UWB positioning device as the first positioning device, randomly select two UWB base stations, record them as the second base station and the third base station respectively, use the ADS-TWR ranging method to calculate the distances between the first positioning device and the first base station, the second base station and the third base station respectively, and obtain the first distance, the second distance and the third distance, which are recorded as the first data; Second calculation: obtaining the position coordinates of the first base station, the second base station and the third base station, and calculating the position of the first positioning device through the first data, which is recorded as the first initial position; Third calculation: using the TDOA measurement method, respectively calculating the time differences between the first base station, the second base station and the third base station, to obtain a first time difference, a second time difference and a third time difference, which are recorded as second data; Fourth calculation: calculating the distances between the first positioning device and the first base station, the second base station and the third base station according to the second data, then obtaining the position coordinates of the first base station, the second base station and the third base station, calculating the position of the first positioning device, and recording it as the second initial position; Fifth calculation: using the AOA measurement method to calculate the angles between the first base station, the second base station, and the third base station and the first positioning device, respectively, to obtain a first angle, a second angle, and a third angle, which are recorded as third data; Sixth calculation: obtaining the position coordinates of the first base station, the second base station and the third base station, and calculating the position of the first positioning device through the third data, which is recorded as the third initial position; Initialize Kalman filter: define Kalman filter state variables and initialize them; Output positioning position: take the first data, the second data, the third data, the first initial position, the second initial position and the third initial position as observation values, input them into the Kalman filter for position update, and output the positioning position of the first positioning device as the new personnel position coordinates.

8. A mine personnel positioning system based on wireless communication, characterized in that: The system is applicable to the method according to any one of claims 1 to 7, and the system comprises: Data collection module, including real-time data collection module and historical data collection module; A real-time data collection module is used to collect real-time data of coal mines; the real-time data of coal mines include the number of coal mine passages, the geometric shape of coal mine passages, the location information of coal mine passages and the environmental data of coal mine passages; A historical data collection module is used to collect historical data of coal mines; the historical data of coal mines include the number of historical coal mine passages, the excavation time of historical coal mine passages, the closing records of historical coal mine passages, the geometric shapes of historical coal mine passages, the location information of historical coal mine passages, the distribution of historical coal mine passages and the environmental data of historical coal mine passages; Model building module, used to build coal mine shaft structure prediction model; A prediction structure module is used to use real-time data as input to a coal mine shaft structure prediction model to obtain the predicted number of coal mine shaft passages and the predicted terrain structure; The module for defining the location and quantity of base stations is connected to the module for predicting the structure and the module for installing the UWB base stations, including the unit for defining the optimization problem, the unit for defining the constraint conditions and the unit for algorithm optimization; An optimization problem unit is defined to construct an objective function with the goal of maximizing the positioning accuracy of the UWB base station; A constraint condition unit is defined, which is used to take the number of base stations, base station locations, signal coverage, environmental factors and positioning accuracy requirements as constraint conditions of the objective function; An algorithm optimization unit, used to optimize the number of UWB base stations and corresponding installation locations by using an ant colony optimization method according to the objective function and constraint conditions; Installing a UWB base station module, used to install the UWB base station according to the obtained number of UWB base stations and corresponding installation positions; The base station parameter setting module is used to set the transmission power and frequency of the UWB base station; The personnel positioning module is used to trigger the UWB positioning device of the underground personnel. The UWB base station receives the positioning signal sent by the UWB positioning device to locate the personnel and obtain the personnel's position coordinates; The positioning display module is used to construct an underground coal mine map according to the predicted number of coal mine passages and the predicted terrain structure, match the personnel position coordinates with the underground coal mine map, obtain the underground personnel coordinate map and display it.

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