Hybrid enhancement system based on Beidou satellite base and underground navigation positioning

Abstract

The invention discloses a hybrid enhancement system based on Beidou satellite base and underground navigation positioning, which belongs to the technical field of satellite positioning, and comprises a Beidou communication satellite for providing high-precision positioning service, and the Beidou communication satellite is in wireless communication connection with terminal equipment. The system further comprises a Beidou satellite-based enhancement module, a signal receiving module, a communication base station, a Beidou signal judgment module, a central control module, an information acquisition module, an inertial navigation module, a data correction module and a road condition monitoring module. Through the mode, the Beidou satellite-based enhancement technology and the underground space navigation positioning technology are combined, and the receiving switching of the Beidou satellite signal and the communication base station signal is realized by monitoring the intensity of the Beidou satellite signal, so that the high-precision navigation positioning is realized, and the positioning requirement in an underground space complex environment is met; according to the invention, road condition grade evaluation is made through detection of mine road sections, and the speed of the unmanned mine car passing through the corresponding road section is set through the road condition grade evaluation.

Description

Technical Field

[0001] The present invention relates to the field of satellite positioning technology, and in particular to a hybrid enhancement system based on Beidou satellite-based and underground navigation positioning. Background Art

[0002] According to production needs, there may be intricate tunnels in the mine. When the unmanned mining vehicle moves from the main tunnel to the branch tunnel where it is operating, it is very likely that it will not be able to reach the expected branch tunnel due to the complex route. Since coal mines are usually deep, when using GPS positioning and other methods for navigation, the signal in the deep well is very weak, and accurate navigation cannot be achieved. Sometimes, even the signal cannot be received;

[0003] Although underground space navigation and positioning technology can solve these problems to a certain extent, its positioning accuracy and real-time performance still need to be improved. With the continuous development of satellite navigation technology, Beidou Satellite-Based Augmentation Technology (BDSBAS) has achieved remarkable results in improving positioning accuracy.

[0004] For example, Chinese patent CN117928534A discloses a method for seamless and smooth indoor and outdoor navigation in underground spaces based on Beidou positioning technology; specifically, the following steps are included: S1, database building and positioning; S2, anomaly identification; S3, authentication update; This method for seamless and smooth indoor and outdoor navigation in underground spaces based on Beidou positioning technology uses the correction of machine-selected positioning information by the user end to judge suspicious abnormal positioning points. Under the setting of multiple suspicious abnormal positioning points, the navigation maintenance workload is reduced and precise maintenance is achieved. The authentication end is used to perform field verification on the suspicious abnormal positioning points to ensure the accuracy of the correction information provided by the user end, thereby ensuring the accuracy of positioning and providing support for smooth navigation in indoor spaces. By recording the time period corresponding to the machine-selected position information corrected by the user end, maintenance personnel can perform signal strength value detection within the corresponding time period, reduce environmental interference with the inspection results, and ensure the accuracy of field inspections.

[0005] However, the Beidou Satellite-Based Augmentation Technology (BDSBAS) has limitations in underground space: due to severe signal obstruction in underground space, Beidou satellite signals are difficult to receive stably, resulting in a significant drop in positioning accuracy.

[0006] Accuracy issues of underground space navigation and positioning technology: Although existing underground navigation and positioning methods can achieve positioning to a certain extent, they have problems such as low accuracy, poor real-time performance, and susceptibility to environmental interference.

[0007] Based on this, the present invention designs a hybrid enhancement system based on Beidou satellite-based and underground navigation positioning to solve the above problems. Summary of the invention

[0008] In view of the above-mentioned shortcomings of the prior art, the present invention provides a hybrid enhancement system based on Beidou satellite-based and underground navigation positioning.

[0009] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0010] A hybrid enhancement system based on Beidou satellite-based and underground navigation positioning, including a Beidou communication satellite for providing high-precision positioning services, the Beidou communication satellite is wirelessly connected to a terminal device, and also includes a Beidou satellite-based enhancement module, a signal receiving module, a communication base station, a Beidou signal judgment module, a central control module, an information collection module, an inertial navigation module, a data correction module and a road condition monitoring module;

[0011] The signal receiving module, communication base station, Beidou signal judgment module, central control module, information collection module, inertial navigation module, and data correction module are all arranged on the unmanned mining vehicle;

[0012] Beidou satellite-based enhancement module, used to receive the positioning signal of Beidou communication satellite and enhance the signal, and then send the enhanced positioning information to the signal receiving module;

[0013] Communication base stations, which are arranged in multiple equal intervals and fixedly installed inside the mine, are used to monitor the location information of the unmanned mining vehicle and send it to the signal receiving module;

[0014] The signal receiving module is used to receive the positioning information from the Beidou satellite-based augmentation module and the communication base station, and upload the received Beidou positioning signal to the Beidou signal judgment module, and upload the received positioning information of the communication base station to the data correction module;

[0015] The Beidou signal judgment module is used to judge the strength of the Beidou signal and input the judgment result into the signal receiving module. The signal receiving module selects to receive the positioning information of the Beidou communication satellite or the positioning information of the communication base station;

[0016] The central control module sends a start instruction to the information collection module and the inertial navigation module after the signal receiving module receives the positioning information of the communication base station;

[0017] The information collection module is used to collect the speed information of the unmanned mining vehicle and integrate the information into a data information package A and upload it to the inertial navigation module;

[0018] The inertial navigation module is used to collect the characteristic information of the unmanned mining vehicle and then integrate the data information into data information package B, and fuse the data information package A and the data information package B to generate data information package C and send it to the data correction module;

[0019] The data correction module is used to receive the position information and data information package C of the unmanned mining vehicle from the signal receiving module and perform fusion calculation using the Kalman filter algorithm, and then upload the corrected positioning result to the central control module;

[0020] The road condition monitoring module includes an experimental simulation unit, a road condition evaluation unit, an alarm unit, a speed matching unit, a camera and a level adjustment unit; the speed matching unit, the camera and the level adjustment unit are all connected to the communication base station;

[0021] The experimental simulation unit is an experimental vehicle, which is used before the mine is put into use. The experimental vehicle is loaded with ore and repeatedly drives in the mine for many times. The total length of the mine is L meters, and each meter is a monitoring section;

[0022] The camera is used to collect images of the ore dropped by the experimental vehicle every meter along the driving route, and the image processor is used to count the number of ores dropped by the experimental vehicle each time on the monitored section, and calculate the total number of ores dropped by the experimental vehicle on multiple monitored sections N. 1-L ;

[0023] It is also used to collect images of ore dropped by the unmanned mining car every meter along the driving route, and count the number of ores dropped by the unmanned mining car on the monitored section through the image processor. 1-L ;

[0024] A plurality of cameras are arranged at equal intervals and are fixedly installed inside the mine, and the cameras are electrically connected to the communication base station;

[0025] Road condition assessment unit, receiving the total number of ores dropped on the monitored road section N 1-L , judge N 1-L Output the road condition level based on the relationship between the low risk threshold a1, the medium risk threshold a2, and the high risk threshold a3;

[0026] The speed matching unit adjusts the speed V of the unmanned mining vehicle through the communication base station. 调整 The signal is sent to the signal receiving module on the unmanned mining car, and the signal receiving module controls the mining car speed to V through the central control module. 调整 ;

[0027] Level adjustment unit, judge Y 1-L Is it greater than the level crossing threshold? If so, the road condition risk is upgraded by one level;

[0028] If Y 1-L In high-risk sections and Y 1-L If it is greater than the level crossing threshold, the output is the adjusted speed V of the unmanned minecart. 调整=0.2V1 The adjusted speed of the unmanned mine car is sent to the signal receiving module on the unmanned mine car through the communication base station. The signal receiving module controls the mine car speed to be adjusted to 0.2V1 through the central control module; and sends the early warning signal to the alarm unit;

[0029] An alarm unit, used to receive the early warning signal and send the early warning signal to the maintenance department;

[0030] The maintenance department is used to upload the road condition recovery information to the road condition evaluation unit after the road condition maintenance is completed. The road condition evaluation unit evaluates the road condition as a normal section, and the speed of the unmanned mining vehicle passing through this section is adjusted to the normal speed V1.

[0031] Furthermore, the Beidou satellite-based augmentation module includes a signal sending unit, a signal receiving unit and a ground control center;

[0032] Furthermore, it is used to wirelessly communicate with Beidou communication satellites and receive positioning signals from Beidou communication satellites;

[0033] The ground control center is connected to the signal sending unit and is used to receive and enhance the Beidou positioning signal from the signal sending unit;

[0034] The signal receiving unit is connected to the ground control center, is used to receive the enhanced Beidou positioning signal, is wirelessly connected to the signal receiving module, and sends the Beidou positioning signal to the signal receiving module.

[0035] Furthermore, the judgment method of the Beidou signal judgment module is:

[0036] If the Beidou signal determination module determines that the number of Beidou communication satellites received is four or more, the signal receiving module continues to receive the positioning information of the Beidou communication satellites;

[0037] If the Beidou signal determination module determines that the number of received Beidou communication satellites is less than four, the signal receiving module receives the positioning information of the communication base station.

[0038] Furthermore, the speed information of the unmanned mining vehicle includes first speed information of the unmanned mining vehicle collected by a laser radar odometer and second speed information of the unmanned mining vehicle collected by an odometer; the laser radar odometer and the odometer are both electrically connected to the central processing module.

[0039] Furthermore, the data information package A is generated by combining the first speed information of the unmanned mining vehicle and the second speed information of the unmanned mining vehicle.

[0040] Furthermore, the characteristic information is the position, orientation and posture information of the unmanned mining vehicle.

[0041] Further, the data information packet B is generated by integrating the position, orientation, and attitude information of the driverless mining truck.

[0042] Further, the inertial navigation module includes an inertial measurement unit and a data fusion unit; the inertial measurement unit is used to collect the position, orientation, and attitude information of the driverless mining truck, and the data fusion unit is used to fuse the data information packet A and the data information packet B to generate a data information packet C. The inertial measurement unit is electrically connected to the central control module, and the data fusion unit uploads the data information packet C to the data correction module.

[0043] Further, the evaluation method of the road condition evaluation unit is as follows:

[0044] If N 1-L < a1, then the road condition evaluation unit determines that this section of the road is a risk-free section, the speed matching unit does not act, and the speed of the driverless mining truck is the normal speed V1;

[0045] If a1 ≤ N 1-L < a2, then the road condition evaluation unit determines that this section of the road is a low-risk section. The road condition evaluation unit uploads the low-risk section information to the speed matching unit, and the speed matching unit outputs the adjusted speed V of the driverless mining truck 调整 = 0.8V1;

[0046] If a2 ≤ N 1-L < a3, the road condition evaluation unit determines that this section of the road is a medium-risk section. The road condition evaluation unit uploads the medium-risk section information to the speed matching unit, and the speed matching unit outputs the adjusted speed V of the driverless mining truck 调整 = 0.6V1;

[0047] If a3 ≤ N 1-L When, the road condition evaluation unit determines that this section of the road is a high-risk section. The road condition evaluation unit uploads the high-risk section information to the speed matching unit, and the speed matching unit outputs the adjusted speed V of the driverless mining truck 调整 = 0.4V1.

[0048] Further, the alarm unit is wirelessly connected to the maintenance department.

[0049] Compared with the prior art, the beneficial effects of the present invention are as follows: By combining the Beidou satellite-based augmentation technology and the underground space navigation and positioning technology, the present invention realizes the switching between the Beidou satellite signal and the communication base station signal reception by monitoring the strength of the Beidou satellite signal, so as to achieve high-precision navigation and positioning and meet the positioning requirements in the complex underground space environment.

[0050] Enhance real-time performance: Utilize the data fusion and processing algorithm of the communication base station signal and the driverless mining truck itself to achieve fast and accurate output of navigation and positioning results, and improve real-time performance.

[0051] The present invention can make a road condition grade assessment by detecting the mine road section, and set the speed of the unmanned mine car passing through the corresponding road section according to the road condition grade assessment, so that the current unmanned mine car can adapt to the mine environment and reduce the falling of ore. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0053] Figure 1 A connection block diagram of a hybrid enhancement system based on Beidou satellite-based and underground navigation positioning according to the present invention;

[0054] Figure 2 A connection block diagram of the information acquisition module and the inertial navigation module of the present invention;

[0055] Figure 3 It is a connection block diagram of the data correction module of the present invention.

[0056] The numbers in the figure represent:

[0057] 1. Beidou satellite-based augmentation module; 11. Signal sending unit; 12. Signal receiving unit; 13. Ground control center; 2. Signal receiving module; 3. Communication base station; 4. Beidou signal judgment module; 5. Central control module; 6. Information acquisition module; 61. LiDAR odometer; 62. Odometer; 7. Inertial navigation module; 71. Inertial measurement unit; 72. Data fusion unit; 8. Data correction module; 9. Road condition monitoring module; 91. Experimental simulation unit; 92. Road condition assessment unit; 93. Alarm unit; 94. Speed ​​matching unit; 95. Camera; 96. Level adjustment unit; 10. Maintenance department. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] Embodiment 1: In some embodiments, please refer to the drawings of the specification Figure 1-Figure 3, a hybrid enhancement system based on Beidou satellite-based and underground navigation positioning, including a Beidou communication satellite for providing high-precision positioning services, the Beidou communication satellite is wirelessly connected to a terminal device, and also includes a Beidou satellite-based enhancement module 1, a signal receiving module 2, a communication base station 3, a Beidou signal judgment module 4, a central control module 5, an information collection module 6, an inertial navigation module 7, a data correction module 8 and a road condition monitoring module 9;

[0060] The signal receiving module 2, the communication base station 3, the Beidou signal judgment module 4, the central control module 5, the information collection module 6, the inertial navigation module 7, and the data correction module 8 are all arranged on the unmanned mining vehicle;

[0061] Beidou satellite-based enhancement module 1 is used to receive the positioning signal of Beidou communication satellite and enhance the signal, and then send the enhanced positioning information to the signal receiving module 2;

[0062] Communication base stations 3, multiple of which are arranged at equal intervals and fixedly installed inside the mine, are used to monitor the location information of the unmanned mining vehicle and send it to the signal receiving module 2;

[0063] The Beidou satellite-based augmentation module 1 includes a signal sending unit 11, a signal receiving unit 12 and a ground control center 13;

[0064] The signal sending unit 11 is used to wirelessly communicate with the Beidou communication satellite and receive the positioning signal of the Beidou communication satellite;

[0065] A ground control center 13, connected to the signal sending unit 11, is used to receive and enhance the Beidou positioning signal from the signal sending unit 11;

[0066] The signal receiving unit 12 is connected to the ground control center 13 , and is used for receiving the enhanced Beidou positioning signal, being wirelessly connected to the signal receiving module 2 , and sending the Beidou positioning signal to the signal receiving module 2 .

[0067] The signal receiving module 2 is used to receive the positioning information from the Beidou satellite-based enhancement module 1 and the communication base station 3, and upload the received Beidou positioning signal to the Beidou signal judgment module 4, and upload the received positioning information of the communication base station 3 to the data correction module 8;

[0068] Beidou signal judgment module 4, used to judge the strength of Beidou signal and input the judgment result into signal receiving module 2, signal receiving module 2 selects to receive the positioning information of Beidou communication satellite or the positioning information of communication base station 3;

[0069] The judgment method of Beidou signal judgment module 4 is:

[0070] If the Beidou signal determination module 4 determines that the number of received Beidou communication satellites is four or more, the signal receiving module 2 continues to receive the positioning information of the Beidou communication satellites;

[0071] If the Beidou signal determination module 4 determines that the number of received Beidou communication satellites is less than four, the signal receiving module 2 receives the positioning information of the communication base station 3 .

[0072] The central control module 5 sends a start instruction to the information collection module 6 and the inertial navigation module 7 after the signal receiving module 2 receives the positioning information of the communication base station 3;

[0073] The information collection module 6 is used to collect the speed information of the unmanned mining vehicle and integrate the information into a data information package A and upload it to the inertial navigation module 7;

[0074] The speed information of the unmanned mining vehicle includes the first speed information of the unmanned mining vehicle collected by the laser radar odometer 61 and the second speed information of the unmanned mining vehicle collected by the odometer 62 ; the laser radar odometer 61 and the odometer 62 are both electrically connected to the central processing module 5 .

[0075] The data information package A is generated by combining the first speed information of the unmanned mining vehicle and the second speed information of the unmanned mining vehicle.

[0076] The inertial navigation module 7 is used to collect characteristic information of the unmanned mining vehicle and then integrate the data information into a data information package B, and fuse the data information package A and the data information package B to generate a data information package C and send it to the data correction module 8;

[0077] The characteristic information is the position, orientation and posture information of the unmanned mining vehicle.

[0078] The data information package B is generated by integrating the position, orientation and posture information of the unmanned mining vehicle.

[0079] The inertial navigation module 7 includes an inertial measurement unit 71 and a data fusion unit 72; the inertial measurement unit 71 is used to collect the position, orientation, and posture information of the unmanned mining vehicle, and the data fusion unit 72 is used to fuse the data information package A and the data information package B to generate a data information package C. The inertial measurement unit 71 is electrically connected to the central control module 5, and the data fusion unit 72 uploads the data information package C to the data correction module 8.

[0080] The data correction module 8 is used to receive the position information and data information package C of the unmanned mining vehicle from the signal receiving module 2 and perform fusion calculation using the Kalman filter algorithm, and then upload the corrected positioning result to the central control module 5;

[0081] The data correction module 8 receives the position information and the data information packet C of the driverless mining truck, and uses the Kalman filtering algorithm for fusion calculation to obtain a high-precision positioning result.

[0082] The road condition monitoring module 9 includes an experimental simulation unit 91, a road condition evaluation unit 92, an alarm unit 93, a speed matching unit 94, a camera 95, and a level adjustment unit 96; the speed matching unit 94, the camera 95, and the level adjustment unit 96 are all connected to the communication base station 3;

[0083] The experimental simulation unit 91 is an experimental vehicle, which is used before the mine is put into operation. The experimental vehicle is filled with ore and travels repeatedly in the mine for many times. The total length of the mine is L meters, and each meter is a monitoring section;

[0084] The camera 95 is used to collect the ore image dropped per meter of the driving route of the experimental vehicle. Through the image processor, the number of ore pieces dropped by the experimental vehicle in each monitoring section is counted, and the total number of ore pieces N dropped by the experimental vehicle in multiple monitoring sections is calculated 1-L ;

[0085] And it is used to collect the ore image dropped per meter of the driving route of the driverless mining truck, and through the image processor, the number of ore pieces Y dropped by the driverless mining truck in the monitoring section is counted 1-L ;

[0086] A plurality of cameras 95 are provided at equal intervals and are respectively fixedly installed inside the mine. The camera 95 is electrically connected to the communication base station 3;

[0087] The road condition evaluation unit 92 receives the total number of ore pieces N dropped in the monitoring section 1-L , judges the size relationship between N 1-L and the low-risk threshold a1, the medium-risk threshold a2, and the high-risk threshold a3, and outputs the road condition level;

[0088] The speed matching unit 94 sends the adjusted speed V of the driverless mining truck 调整 to the signal receiving module 2 on the driverless mining truck through the communication base station 3, and the signal receiving module 2 controls the speed of the mining truck to be adjusted to V through the central control module 5 调整 ;

[0089] The evaluation method of the road condition evaluation unit 92 is as follows:

[0090] If N 1-L < a1, then the road condition evaluation unit 92 judges that this section is a risk-free section, the speed matching unit 94 does not act, and the speed of the driverless mining truck is the normal speed V1;

[0091] If a1 ≤ N 1-LWhen a2, the road condition assessment unit 92 determines that this section of the road is a low-risk section. The road condition assessment unit 92 uploads the low-risk section information to the speed matching unit 94, and the speed matching unit 94 outputs the adjusted speed V of the driverless mining truck 调整 = 0.8V1;

[0092] If a2 ≤ N 1-L When a3, the road condition assessment unit 92 determines that this section of the road is a medium-risk section. The road condition assessment unit 92 uploads the medium-risk section information to the speed matching unit 94, and the speed matching unit 94 outputs the adjusted speed V of the driverless mining truck 调整 = 0.6V1;

[0093] If a3 ≤ N 1-L When, the road condition assessment unit 92 determines that this section of the road is a high-risk section. The road condition assessment unit 92 uploads the high-risk section information to the speed matching unit 94, and the speed matching unit 94 outputs the adjusted speed V of the driverless mining truck 调整 = 0.4V1.

[0094] The level adjustment unit 96 determines Y 1-L Whether it is greater than the level crossing threshold. If so, the road condition risk is increased by one level. For example, when driving at 0.8V1 in a low-risk section, the speed has been reduced according to the environment here. When the driverless mining truck passes through this section, 5 ores are dropped, which is greater than the level crossing threshold set in the system, then this low-risk section is upgraded to a medium-risk section;

[0095] If Y 1-L Is in a high-risk section and Y 1-L Is greater than the level crossing threshold, output the adjusted speed V of the driverless mining truck 调整 = 0.2V1. Send the adjusted speed 0.2V1 of the driverless mining truck to the signal receiving module 2 on the driverless mining truck through the communication base station 3. The signal receiving module 2 controls the speed of the mining truck to be adjusted to 0.2V1 through the central control module; and send a warning signal to the alarm unit 93;

[0096] The alarm unit 93 is used to receive the warning signal and send the warning signal to the maintenance department 10; the alarm unit 93 is wirelessly connected to the maintenance department 10.

[0097] The maintenance department 10 is used to upload the road condition recovery information to the road condition assessment unit 92 after the road condition maintenance is completed. The road condition assessment unit 92 rates this road condition as a normal section, and the speed of the driverless mining truck passing through this section is adjusted to the normal speed V1.

[0098] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hybrid augmentation system based on Beidou satellite-based and underground navigation positioning, comprising a Beidou communication satellite for providing high-precision positioning services, characterized in that: The Beidou communication satellite is wirelessly connected to the terminal device, and also includes a Beidou satellite-based enhancement module (1), a signal receiving module (2), a communication base station (3), a Beidou signal judgment module (4), a central control module (5), an information collection module (6), an inertial navigation module (7), a data correction module (8) and a road condition monitoring module (9); The signal receiving module (2), the communication base station (3), the Beidou signal judgment module (4), the central control module (5), the information collection module (6), the inertial navigation module (7), and the data correction module (8) are all arranged on the unmanned mining vehicle; A Beidou satellite-based enhancement module (1) is used to receive positioning signals from Beidou communication satellites and enhance the signals, and then send the enhanced positioning information to a signal receiving module (2); A plurality of communication base stations (3) are provided at equal intervals and are fixedly installed inside the mine, and are used to monitor the position information of the unmanned mining vehicle and send it to the signal receiving module (2); A signal receiving module (2) is used to receive positioning information from a Beidou satellite-based enhancement module (1) and a communication base station (3), upload the received Beidou positioning signal to a Beidou signal judgment module (4), and upload the received positioning information of the communication base station (3) to a data correction module (8); A Beidou signal determination module (4) is used to determine the strength of the Beidou signal and input the determination result into the signal receiving module (2), and the signal receiving module (2) selects to receive the positioning information of the Beidou communication satellite or the positioning information of the communication base station (3); The central control module (5) sends a start instruction to the information collection module (6) and the inertial navigation module (7) after the signal receiving module (2) receives the positioning information of the communication base station (3); An information collection module (6) is used to collect speed information of the unmanned mining vehicle and integrate the information into a data information package A and upload it to an inertial navigation module (7); An inertial navigation module (7) is used to collect characteristic information of the unmanned mining vehicle and then integrate the data information into a data information package B, and fuse the data information package A and the data information package B to generate a data information package C and send it to the data correction module (8); A data correction module (8) is used to receive the position information and data information package C of the unmanned mining vehicle from the signal receiving module (2) and perform fusion calculation using a Kalman filter algorithm, and then upload the corrected positioning result to the central control module (5); A road condition monitoring module (9) comprises an experimental simulation unit (91), a road condition evaluation unit (92), an alarm unit (93), a speed matching unit (94), a camera (95) and a level adjustment unit (96); the speed matching unit (94), the camera (95) and the level adjustment unit (96) are all connected to a communication base station (3); The experimental simulation unit (91) is an experimental vehicle used before the mine is put into use. The experimental vehicle is loaded with ore and repeatedly travels in the mine for many times. The total length of the mine is L meters, and each meter is a monitoring section. The camera (95) is used to collect images of ores dropped by the experimental vehicle every meter along the driving route, and to count the number of ores dropped by the experimental vehicle on the monitoring section each time through the image processor, and to calculate the total number N of ores dropped by the experimental vehicle on multiple monitoring sections. 1-L ; It is also used to collect images of ore dropped by the unmanned mining car every meter along the driving route, and count the number of ores dropped by the unmanned mining car on the monitored section through the image processor. 1-L ; A plurality of cameras (95) are arranged at equal intervals and are respectively fixedly installed inside the mine, and the cameras (95) are electrically connected to the communication base station (3); The road condition evaluation unit (92) receives the total number N of ores dropped on the monitored road section. 1-L , judge N 1-L Output the road condition level based on the relationship between the low risk threshold a1, the medium risk threshold a2, and the high risk threshold a3; The speed matching unit (94) adjusts the unmanned mining vehicle speed V through the communication base station (3). 调整 The signal is sent to the signal receiving module (2) on the unmanned mining car, and the signal receiving module (2) controls the mining car speed to be adjusted to V through the central control module. 调整 ; The level adjustment unit (96) determines Y 1-L Is it greater than the level crossing threshold? If so, the road condition risk is upgraded by one level; If Y 1-L In high-risk sections and Y 1-L If it is greater than the level crossing threshold, the output is the adjusted speed V of the unmanned minecart. 调整 =0.2V1 The adjusted speed of the unmanned mining vehicle 0.2V1 is sent to the signal receiving module (2) on the unmanned mining vehicle through the communication base station (3); the signal receiving module (2) controls the mining vehicle speed to be adjusted to 0.2V1 through the central control module (5); and sends the early warning signal to the alarm unit (93); an alarm unit (93), configured to receive the warning signal and send the warning signal to a maintenance department (10); The maintenance department (10) is used to upload the road condition recovery information to the road condition evaluation unit (92) after the road condition maintenance is completed. The road condition evaluation unit (92) evaluates the road condition as a normal section, and the speed of the unmanned mining vehicle passing through this section is adjusted to the normal speed V1.

2. The hybrid enhancement system based on Beidou satellite-based and underground navigation positioning according to claim 1 is characterized in that: The Beidou satellite-based augmentation module (1) comprises a signal sending unit (11), a signal receiving unit (12) and a ground control center (13); A signal sending unit (11) is used to wirelessly communicate with a Beidou communication satellite and receive a positioning signal from the Beidou communication satellite; A ground control center (13) is connected to the signal sending unit (11) and is used to receive and enhance the Beidou positioning signal from the signal sending unit (11); The signal receiving unit (12) is connected to the ground control center (13) and is used for receiving the enhanced Beidou positioning signal, and is wirelessly connected to the signal receiving module (2) to send the Beidou positioning signal to the signal receiving module (2).

3. The hybrid enhancement system based on Beidou satellite-based and underground navigation positioning according to claim 2 is characterized in that: The judgment method of the Beidou signal judgment module (4) is: If the Beidou signal determination module (4) determines that the number of received Beidou communication satellites is four or more, the signal receiving module (2) continues to receive positioning information from the Beidou communication satellites; If the Beidou signal determination module (4) determines that the number of received Beidou communication satellites is less than four, the signal receiving module (2) receives the positioning information of the communication base station (3).

4. The hybrid enhancement system based on Beidou satellite-based and underground navigation positioning according to claim 3 is characterized in that: The speed information of the unmanned mining vehicle comprises first speed information of the unmanned mining vehicle collected by a laser radar odometer (61) and second speed information of the unmanned mining vehicle collected by an odometer (62); the laser radar odometer (61) and the odometer (62) are both electrically connected to the central processing module (5).

5. The hybrid enhancement system based on Beidou satellite-based and underground navigation positioning according to claim 4 is characterized in that: The data information package A is generated by combining the first speed information of the unmanned mining vehicle and the second speed information of the unmanned mining vehicle.

6. The hybrid enhancement system based on Beidou satellite-based and underground navigation positioning according to claim 5 is characterized in that: The characteristic information is the position, orientation and posture information of the unmanned mining vehicle.

7. The hybrid enhancement system based on Beidou satellite-based and underground navigation positioning according to claim 6 is characterized in that: The data information package B is generated by integrating the position, orientation and posture information of the unmanned mining vehicle.

8. The hybrid enhancement system based on Beidou satellite-based and underground navigation positioning according to claim 7 is characterized in that: The inertial navigation module (7) comprises an inertial measurement unit (71) and a data fusion unit (72); the inertial measurement unit (71) is used to collect the position, orientation and posture information of the unmanned mining vehicle; the data fusion unit (72) is used to fuse the data information package A and the data information package B to generate the data information package C; the inertial measurement unit (71) is electrically connected to the central control module (5); and the data fusion unit (72) uploads the data information package C to the data correction module (8).

9. The hybrid enhancement system based on Beidou satellite-based and underground navigation positioning according to claim 8 is characterized in that: The evaluation method of the road condition evaluation unit (92) is: If N 1-L <When a1, the road condition evaluation unit (92) determines that this section of the road is a risk-free section, the speed matching unit (94) does not act, and the speed of the driverless mining truck is the normal speed V1; If a1 ≤ N 1-L When < a2, the road condition assessment unit (92) determines that this section of the road is a low-risk section. The road condition assessment unit (92) uploads the low-risk road section information to the speed matching unit (94), and the speed matching unit (94) outputs the adjusted speed V of the driverless mining truck 调整 = 0.8V1; If a2 ≤ N 1-L When < a3, the road condition assessment unit (92) determines that this section of the road is a medium-risk section. The road condition assessment unit (92) uploads the medium-risk section information to the speed matching unit (94), and the speed matching unit (94) outputs the adjusted speed V of the driverless mining truck 调整 = 0.6V1; If a3≤N 1-L , the road condition assessment unit (92) determines that the road section is a high-risk road section, and the road condition assessment unit (92) uploads the high-risk road section information to the speed matching unit (94), and the speed matching unit (94) outputs the adjusted unmanned mining vehicle speed V 调整 =0.4V1.

10. The hybrid enhancement system based on Beidou satellite-based and underground navigation positioning according to claim 9 is characterized in that: The alarm unit (93) is connected to the maintenance department (10) by wireless communication.

Images