Downhole ultra-wideband positioning base station response signal anti-collision method and electronic device

Abstract

The application discloses a downhole ultra-wideband positioning base station response signal anti-collision method and electronic equipment, and the method comprises the following steps: in response to a ranging request sent by a downhole positioning tag, a plurality of target base stations in the ultra-wideband signal coverage range of the downhole positioning tag are determined; for each target base station in the plurality of target base stations, a response anti-collision model of the target base station is solved, and an effective target response polling code of the target base station is determined; the response anti-collision model is constructed based on the downhole roadway topological structure and the inter-base-station ultra-wideband signal overlap relationship generated based on the effective ranging of each base station in the downhole; based on each effective target response polling code value, the preset single response time of each target base station and the set time calculation rule, the target response time of each target base station is determined; and the target base stations are controlled to generate a response message of the ranging request within the target response time based on the response order of each target response polling code value from small to large.

Description

Technical Field

[0001] This application relates to the field of underground positioning technology in coal mines, and in particular to a method and electronic device for preventing collisions in response signals of an underground ultra-wideband positioning base station. Background Technology

[0002] In underground mining operations, due to the hazardous and complex working environment, precise positioning of personnel, vehicles, and equipment is crucial. While existing UWB (Ultra-Wideband) positioning technology can provide high-precision positioning services, some problems still exist in practical applications.

[0003] Currently, UWB positioning systems calculate location by deploying multiple positioning base stations underground and utilizing the signal transmission time difference between the positioning tag and the base station. However, when multiple positioning tags send ranging requests simultaneously, the response signals from the base stations may conflict, leading to ranging failure or decreased positioning accuracy.

[0004] To address the above issues, there are currently two methods for anti-collision management of UWB response signals from base stations: (1) Without any intervention, allowing the UWB response signals of base stations to compete freely. The tag will generally receive the signal from the base station with higher signal strength and faster response time, and ignore the response signals from other base stations. However, when the signal strength or response time between base stations is similar, this method will cause the tag to fail to measure distance; even if the distance measurement is successful, the tag cannot effectively use the data from other base stations to improve the positioning accuracy. (2) Manually setting up the adjacent base stations of each base station one by one. However, this method is time-consuming and labor-intensive, and heavily relies on the experience of technical personnel. When the underground network topology is complex, it is difficult to avoid problems such as incomplete consideration or errors. In addition, considering the blasting disturbances and changes in the work site that are common in underground mining operations, base stations need to be moved frequently. However, the manual method cannot ensure the timeliness and effectiveness of anti-collision management of UWB response signals after the base station location changes. Summary of the Invention

[0005] In view of this, embodiments of this application provide a method and electronic device for preventing collisions in response signals of underground ultra-wideband positioning base stations, aiming to solve the problems of low positioning accuracy caused by response signal collisions when the signal strength or response time of base stations is similar, and low ranging efficiency caused by reliance on manual settings.

[0006] The technical solution of this application embodiment is implemented as follows:

[0007] In a first aspect, embodiments of this application provide a method for preventing collisions in response signals of an underground ultra-wideband positioning base station, including:

[0008] In response to a ranging request issued by an underground positioning tag, multiple target base stations within the ultra-wideband signal coverage area of ​​the underground positioning tag are identified;

[0009] For each of the plurality of target base stations, the anti-collision model of the target base station is solved to determine the effective target response polling code of the target base station; the anti-collision model is constructed based on the underground roadway topology and the ultra-wideband signal overlap relationship between base stations generated based on the effective ranging of each underground base station;

[0010] Based on the effective target response polling code value, the preset single response time of each target base station and the set time calculation rules, the target response time of each target base station is determined so that each target base station can respond independently at the target response time of the target base station.

[0011] The target base stations are controlled to generate response messages for the ranging request within the response time of each target response, based on the response order of the target response polling code value from smallest to largest.

[0012] In some embodiments, the method further includes:

[0013] Based on the topological structure of the underground roadway centerline, an undirected graph of the underground roadway is constructed.

[0014] Based on the bounded and constrained breadth-first search algorithm rules for undirected graphs, a cluster set of target base stations is searched. The cluster set of target base stations includes: a first cluster set and a second cluster set. The first cluster set consists of base stations that have signal response conflicts with the target base station along the first extension direction of the underground roadway. The second cluster set consists of other base stations that have signal response conflicts with the target base station along the second extension direction of the underground roadway.

[0015] Based on the overlap evaluation matrix and the effective ranging of each underground base station, a set of overlapping base stations that overlap with the ultra-wideband signal of the target base station is determined. The set of overlapping base stations represents the ultra-wideband signal overlap relationship between the target base stations.

[0016] Based on the objective function, the first constraint, the second constraint, and the third constraint, a response anti-collision model for the target base station is generated. The first constraint states that only one of the response polling codes of the target base station is active. The second constraint states that the response polling codes of the target base station and overlapping base stations whose ultra-wideband signals overlap with the target base station cannot be active simultaneously. The third constraint states that within the cluster set of the target base station, the response polling code values ​​of each base station are different.

[0017] In some embodiments, the method further includes:

[0018] An objective function is constructed based on decision variables characterizing whether the response polling code of the target base station is effective, the cluster correlation degree of the target base station, and the number of response polling codes of the target base station. The number of response polling codes of the target base station is the maximum value of the number of base stations in the first cluster set and the second cluster set of the target base station. The cluster correlation degree of the target base station is the total number of times the target base station appears in the cluster set of each base station in the underground roadway.

[0019] In some embodiments, the first extension direction is the forward extension direction of the target base station along the center line of the alley; the second extension direction is the backward extension direction of the target base station along the center line of the alley.

[0020] In some embodiments, the bounded constrained breadth-first search algorithm rule includes: a breadth-first search algorithm and bounded constraints based on the effective ranging range; the search for the first cluster set and the second cluster set based on the undirected graph and the bounded constrained breadth-first search algorithm rule includes:

[0021] Based on the undirected graph, along the first extension direction of the target base station in the underground roadway and along the second extension direction in the underground roadway, a multi-segment search is constructed based on the breadth-first search algorithm to search for base stations that conflict with the target base station.

[0022] If it is determined that the polyline satisfies the bounded constraint condition, then the search is successful, and the first cluster set and the second cluster set are generated.

[0023] Based on the first cluster set and the second cluster set, a cluster set for the target base station is generated;

[0024] The bounded constraints based on the effective ranging range include:

[0025] The polyline is one or two segments;

[0026] When the polyline is a single segment, the length of the polyline is less than twice the effective ranging range of the base station; when the polyline is two segments, the length of each segment is less than the effective ranging range of the base station.

[0027] The polyline does not intersect with the edge line of the underground roadway.

[0028] In some embodiments, the ultra-wideband signal overlap evaluation matrix includes multiple matrix elements characterizing whether base stations overlap. The step of determining the set of overlapping base stations that overlap with the ultra-wideband signal of the target base station based on the overlap evaluation matrix and the effective ranging of each base station in the well includes:

[0029] Based on the effective ranging range of each underground base station, the ultra-wideband signal coverage range of each base station is determined. The ultra-wideband signal coverage range is the range where the distance between any position on the center line of the roadway and the base station is less than the effective ranging range of the base station, and the line does not intersect with the edge line of the roadway.

[0030] If the ultra-wideband signal coverage of other base stations besides the target base station overlaps with the ultra-wideband signal coverage of the target base station, then the matrix element of the other base station and the target base station in the overlap evaluation matrix is ​​determined to be 1, and the other base station is marked as an overlapping base station that overlaps with the ultra-wideband signal of the target base station.

[0031] Based on the overlapping base stations, a set of overlapping base stations that overlap with the base station signal of the target base station is determined.

[0032] In some embodiments, the objective function is:

[0033]

[0034] Where, x i,j Let j be the decision variable for base station i, j be the number of the response polling code value, i be the base station number, and e be the decision variable for base station i. i Let be the cluster association degree of base station i, where i ranges from [1, n], j ranges from [1, m], n is the number of base stations, and m is the maximum number of base stations in the first cluster set and the second cluster set of base station i.

[0035] The objective function aims to minimize the response polling code value of the target base station, and further minimize the response polling code value of target base stations with high cluster correlation.

[0036] In some embodiments, the first constraint condition is: Where, x i,j Let i be the decision variable for base station i, where i is the base station number and j is the number of the response polling code value.

[0037] The second constraint is: Where, x i,j Let i be the base station's decision variable, j be the base station number, and x be the response polling code value number. i′,j For the decision variables of overlapping base stations that overlap with the ultra-wideband signal of base station i, b i,i′ Let i be the matrix element of base station i;

[0038] The third constraint is: Where, x i,j Let i be the base station number and j be the response polling code value number, which are the decision variables. Let i be the first cluster set of base station i. Let i be the second cluster set of base station i.

[0039] In some embodiments, the time calculation rule is as follows:

[0040] t×(j-1)

[0041] Where t is the preset single response time of base station i, i is the base station number, and j is the number of the response polling code value.

[0042] In a second aspect, embodiments of this application provide an electronic device, including: a processor and a memory for storing a computer program capable of running on the processor, wherein, when the processor is used to run the computer program, it executes the steps of the method described in the first aspect of embodiments of this application.

[0043] The technical solution provided in this application embodiment is a method for preventing collisions in response signals of underground ultra-wideband positioning base stations, comprising: responding to a ranging request issued by an underground positioning tag, determining multiple target base stations within the ultra-wideband signal coverage area of ​​the underground positioning tag; for each target base station, solving the anti-collision model of the target base station, and determining the effective target response polling code of the target base station; the anti-collision model is constructed based on the underground roadway topology and the ultra-wideband signal overlap relationship between base stations generated based on the effective ranging of each underground base station; based on the effective target response polling code value, the preset single response time of each target base station, and the set time calculation rules, determining the target response time of each target base station, so that each target base station responds independently within the target response time of the target base station; controlling each target base station to generate a response message for the ranging request within each target response time based on the response order of each target response polling code value from smallest to largest.

[0044] Thus, this application implements a response anti-collision model based on the base station response signals, which combines the distribution of underground roadways and the effective ranging range of base stations, thereby achieving efficient and reliable anti-collision management of base station response signals. Specifically, it can achieve: (1) No manual intervention required. This application can automatically generate target response polling codes for each base station through an automated response anti-collision model (based on the underground roadway topology and signal overlap relationship between base stations), thus eliminating the need for manual intervention and effectively avoiding the problem of incomplete or erroneous consideration in base station response signal anti-collision management; (2) Through automated management of base station response signal anti-collision based on parameters such as the distribution of underground roadways and the effective ranging range of base stations, it is highly efficient and timely; (3) By assigning a unique target response time to each target base station and responding in order of response polling code values ​​from smallest to largest, it ensures that all base stations can respond without interfering with each other. In this case, response messages are sent sequentially to manage the base station response signals in an orderly manner, thereby ensuring that the tag can effectively measure distances with each base station within its signal coverage area, avoiding distance measurement failures, and improving the accuracy of tag positioning by combining multiple distance measurement information; (4) The response anti-collision model of this application is dynamically generated based on the topology of the underground roadway distribution. Therefore, when the base station location changes, it can quickly sense and recalculate the new response polling code and target response time. When the base station relocates, it can automatically update the base station response signal anti-collision management strategy, thereby ensuring the availability and maintainability of the system in the mine. Attached Figure Description

[0045] Figure 1 A flowchart illustrating the anti-collision method for the response signal of an underground ultra-wideband positioning base station provided in this application embodiment;

[0046] Figure 2 A flowchart illustrating the anti-collision method for the response signal of an underground ultra-wideband positioning base station provided as an application example of this application;

[0047] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0048] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0050] This application provides a method for preventing collisions in the response signals of an underground ultra-wideband positioning base station, such as... Figure 1 As shown, the specific steps include the following:

[0051] Step 110: In response to the ranging request issued by the downhole positioning tag, identify multiple target base stations within the ultra-wideband signal coverage area of ​​the downhole positioning tag.

[0052] In this embodiment, the downhole positioning tag is a portable electronic device based on ultra-wideband (UWB) technology, carried by downhole workers, vehicles or equipment, used to obtain their precise location information in real time, and interact with base stations through wireless communication to realize the positioning, tracking and management of downhole targets.

[0053] In this embodiment, during downhole operations, the downhole positioning tag actively or periodically sends ranging requests. These ranging requests are wireless signals used to request ranging interaction with surrounding base stations. For example, after the positioning tag sends a ranging request data packet, multiple target base stations within the ultra-wideband signal coverage area of ​​the positioning tag will receive the ranging request. These base stations need to respond to the received ranging requests.

[0054] For example, for any base station i, the effective ranging range of the base station UWB signal is d. The coverage range of the base station i's UWB signal is the range where the distance between any position on the center line of the alley and base station i is less than d, and the line does not intersect with the edge line of the alley.

[0055] Step 120: For each of the multiple target base stations, solve the anti-collision model of the target base station and determine the effective target response polling code of the target base station; the anti-collision model is constructed based on the underground roadway topology and the ultra-wideband signal overlap relationship between base stations generated based on the effective ranging of each underground base station.

[0056] In this embodiment, the target base station is one of multiple base stations located within the coverage area of ​​the positioning tag when responding to a ranging request issued by the downhole positioning tag.

[0057] In this embodiment, the anti-collision model is a mathematical model built upon the underground tunnel topology and the signal overlap relationship between base stations (determined by the effective ranging range). Its purpose is to avoid signal collisions that occur when multiple base stations simultaneously respond to the same ranging request. The underground tunnel topology refers to the layout and shape of the underground tunnels, including tunnel branches and lengths, factors that affect signal propagation and the mutual influence between base stations.

[0058] In this embodiment, the effective ranging of a base station refers to the maximum distance at which the base station can reliably communicate under specific environmental conditions (such as underground tunnels). This distance is affected by various factors, including but not limited to physical obstacles, electromagnetic interference, and base station hardware performance. In practical applications, in underground positioning systems, each base station has a preset effective ranging range d. Within this range, the base station can effectively exchange data with tags or other devices, thereby achieving functions such as precise positioning. Beyond this range, the signal strength may be insufficient to guarantee reliable communication or positioning accuracy. The ultra-wideband signal overlap relationship between base stations is generated based on the effective ranging.

[0059] Ultra-wideband (UWB) signal overlap between base stations refers to the situation where the signal coverage areas of two or more base stations overlap. Specifically, if the signals of two base stations can be received simultaneously in a certain area, then there is signal overlap between the two base stations.

[0060] In this embodiment, the overlap relationship of ultra-wideband signals between base stations can be determined based on the effective ranging range d of each base station underground.

[0061] In this embodiment, each target base station is assigned one or more possible response polling codes. These response polling codes are used to determine when each target base station should respond after receiving a ranging request, thereby avoiding response signal conflicts between different target base stations. After solving the response anti-collision model, an effective response polling code for the target base station can be generated, which ensures that no response conflicts occur between target base stations.

[0062] In this embodiment, for each target base station, the signal coverage between it and surrounding base stations, as well as potential conflicts between them (based on the physical layout of the alley and the effective ranging range of the base station), are analyzed using a response anti-collision model to calculate an effective response polling code for the target base station. This code ensures that no other neighboring base station will use the same code to respond within the same time window, thus effectively preventing conflicts between response signals. In this way, the positioning tag can accurately receive response signals from different base stations and calculate its own location accordingly.

[0063] Thus, by constructing an anti-collision model that combines parameters such as the distribution of underground roadways and the signal overlap relationship between base stations, automated management of anti-collision of base station response signals can be achieved, which is highly efficient and timely; no manual intervention is required, and the problem of incomplete or erroneous consideration in the management of anti-collision of base station response signals can be effectively avoided.

[0064] Step 130: Based on the effective target response polling code value, the preset single response time of each target base station and the set time calculation rules, determine the target response time of each target base station so that each target base station can respond independently at the target response time of the target base station.

[0065] Understandably, in step 120, an "effective target response polling code" has been determined for each target base station. This code value determines the response order of the base station (i.e., its priority among all base stations). For example, the smaller the code value, the higher the priority and the earlier the response time.

[0066] Understandably, the time required for each base station to complete one response is called the "single response time." This is a fixed value, typically determined by the hardware and communication protocol.

[0067] Understandably, to avoid signal conflicts caused by multiple base stations responding simultaneously, non-overlapping time periods are allocated to each base station based on the single response time and a set time calculation rule. The set time calculation rule is used to calculate the specific response time based on parameters such as the response polling code value and the single response time. This rule can be preset by the user. The target response time is the specific response time for each target base station; that is, how long the target base station must wait after receiving the ranging request before it begins sending a response signal. This assigns a specific target response time to each target base station, ensuring they can complete their responses at different times and avoid signal conflicts.

[0068] In this way, by combining the effective target response polling code value, the single response time, and the time calculation rules, a clear and non-conflicting response time is assigned to each target base station, thereby ensuring that all base stations can respond to ranging requests in an orderly manner, avoiding signal interference, and ultimately improving the stability and accuracy of the positioning system.

[0069] In this embodiment, the above mathematical model is solved. When the positioning tag sends a ranging request data packet, all base stations within the UWB signal coverage area of ​​the positioning tag will receive the ranging request. Different response polling code values ​​are assigned to the base stations within the signal coverage area. Each base station responds in ascending order according to the size of the response polling code value and the preset single response time t. That is, when the polling code value of base station i is j, base station i sends a response packet after receiving the ranging request and after a time period t×(j-1). This can effectively realize anti-collision management of UWB positioning base station response signals.

[0070] Step 140: Control each target base station to generate a ranging request response message within each target response time according to the response order of the target response polling coding value from smallest to largest.

[0071] In this embodiment, in step 130, a specific target response time has been assigned to each target base station. This time is calculated based on the response polling code value, the single response time, and the time calculation rules, ensuring that the response times of all base stations do not overlap.

[0072] In this embodiment, when the positioning tag sends a ranging request, the target base station needs to respond in a preset order (i.e., in ascending order of target response polling code values), and generate a response message within its target response time, sending its own relevant information (such as location information, timestamp, etc.) to the positioning tag for subsequent positioning calculations. This controls each target base station to generate its ranging request response message within its allocated target response time, according to the order of the target response polling code values. This ensures that the response behavior of all base stations proceeds in an orderly manner, avoiding signal conflicts and ultimately achieving high-precision and reliable positioning services.

[0073] Thus, this application implements a response anti-collision model based on the base station response signals, which combines the distribution of underground roadways and the effective ranging range of base stations, thereby achieving efficient and reliable anti-collision management of base station response signals. Specifically, it can achieve: (1) No manual intervention required. This application can automatically generate target response polling codes for each base station through an automated response anti-collision model (based on the underground roadway topology and signal overlap relationship between base stations), thus eliminating the need for manual intervention and effectively avoiding the problem of incomplete or erroneous consideration in base station response signal anti-collision management; (2) Through automated management of base station response signal anti-collision based on parameters such as the distribution of underground roadways and the effective ranging range of base stations, it is highly efficient and timely; (3) By assigning a unique target response time to each target base station and responding in order of response polling code values ​​from smallest to largest, it ensures that all base stations can respond without interfering with each other. In this case, response messages are sent sequentially to manage the base station response signals in an orderly manner, thereby ensuring that the tag can effectively measure distances with each base station within its signal coverage area, avoiding distance measurement failures, and improving the accuracy of tag positioning by combining multiple distance measurement information; (4) The response anti-collision model of this application is dynamically generated based on the topology of the underground roadway distribution. Therefore, when the base station location changes, it can quickly sense and recalculate the new response polling code and target response time. When the base station relocates, it can automatically update the base station response signal anti-collision management strategy, thereby ensuring the availability and maintainability of the system in the mine.

[0074] In some embodiments, the method further includes:

[0075] Based on the topological structure of the underground roadway centerline, an undirected graph of the underground roadway is constructed.

[0076] Based on the rules of undirected graph and bounded constrained breadth-first search algorithm, the cluster set of the target base station is searched. The cluster set of the target base station includes: a first cluster set and a second cluster set; the first cluster set consists of base stations that have signal response conflicts with the target base station along the first extension direction of the underground roadway, and the second cluster set consists of other base stations that have signal response conflicts with the target base station along the second extension direction of the underground roadway.

[0077] Based on the constructed inter-base station ultra-wideband signal overlap evaluation matrix and the effective ranging of the target base station, the set of overlapping base stations that overlap with the base station signal of the target base station is determined; the set of overlapping base stations represents the signal overlap relationship between the target base stations.

[0078] Based on the objective function, the first constraint, the second constraint, and the third constraint, a response anti-collision model for the target base station is generated. The first constraint is that only one of the response polling codes of the target base station is effective. The second constraint is that the response polling codes of the target base station and the overlapping base stations whose ultra-wideband signals overlap with the target base station cannot be effective at the same time. The third constraint is that within the cluster set of the target base station, the response polling code values ​​of each base station are different.

[0079] In this embodiment, to accurately represent the spatial layout and interrelationships of underground tunnels, an undirected graph needs to be constructed based on the topological structure of the tunnel centerline. In this undirected graph, nodes represent the locations of base stations, and edges represent connections or distances between base stations. This representation can intuitively reflect the relative positions of base stations and their potential signal coverage. This provides a basic data structure for the subsequent breadth-first search algorithm, helping to identify the relative positional relationships between base stations and possible signal overlap areas.

[0080] In this embodiment, bounded-constrained breadth-first search refers to using a breadth-first search algorithm to improve search efficiency while ensuring that the searched base stations are bounded and constrained. Based on the undirected graph and the rules of the bounded-constrained breadth-first search algorithm, cluster sets of target base stations are searched. The first cluster set contains all base stations that have signal response conflicts with the target base station along the first extension direction of the underground tunnel. The second cluster set contains all base stations that have signal response conflicts with the target base station along the second extension direction of the underground tunnel. By defining these cluster sets, it can be clearly identified which base stations may have signal conflicts with the target base station in specific directions.

[0081] For example, the centerline of the underground roadway is constructed as an undirected graph D. For any base station i, a bounded and constrained breadth-first search is performed along the two directions of the roadway where the base station is located to obtain other base stations that may have signal response conflicts with base station i. Base station i and other base stations that may have signal response conflicts are clustered to form a first cluster set. Second cluster set These represent the base station cluster sets obtained by searching along the two directions of the alleyway, respectively. Based on these two sets, the target base station cluster set is generated.

[0082] In this embodiment, the signal overlap evaluation matrix is ​​a matrix where each element represents whether there is signal overlap between two base stations. If overlap exists, the corresponding matrix element has a value of 1; otherwise, it has a value of 0.

[0083] In this embodiment, effective ranging refers to the maximum distance at which the base station can reliably perform ranging. Based on the above matrix and effective ranging, the set of all base stations whose signals overlap with the target base station is identified. By identifying the set of base stations with overlapping signals, it is further refined to determine which base stations may cause signal interference to the target base station, thereby optimizing the response polling coding allocation.

[0084] In this embodiment, a response anti-collision model for the target base station is generated based on the objective function, the first constraint, the second constraint, and the third constraint. The first constraint ensures that only one response polling code of the target base station is active, guaranteeing that each target base station has only one active response polling code. The second constraint prevents the response polling codes of the target base station and overlapping base stations whose signals overlap with the target base station from being active simultaneously, thus preventing the target base station from using the same response polling code with its overlapping base stations and avoiding collisions. The third constraint ensures that the response polling code values ​​of each base station within the target base station cluster are different, further reducing the possibility of collisions.

[0085] In this way, by setting these constraints and optimizing the objective function, an effective response anti-collision model can be generated, enabling each base station to respond to ranging requests in an orderly manner within a specified time period, thereby avoiding signal collisions and improving the overall performance and reliability of the system.

[0086] In some embodiments, the method further includes:

[0087] Based on the decision variables characterizing whether the response polling code of the target base station is effective, the cluster correlation degree of the target base station, and the number of response polling codes of the target base station, an objective function is constructed; the number of response polling codes of the target base station is the maximum value of the number of base stations in the first cluster set and the second cluster set of the target base station cluster set; the cluster correlation degree of the target base station is the total number of times the target base station appears in the cluster set of each base station in the underground roadway.

[0088] In this embodiment, the objective function can be constructed using decision variables, cluster correlation degree, and the number of response polling codes. The decision variables determine whether the response polling codes are effective. The cluster correlation degree reflects the frequency with which the base station appears in different cluster sets. The number of response polling codes is determined based on the maximum number of base stations in the first and second cluster sets to which the base station belongs.

[0089] In this embodiment, let the set corresponding to all base stations be defined. and The maximum number of elements in the cluster is m, which is the upper limit of the number of base stations that can respond simultaneously. The number of response polling codes of the target base station is the maximum number of base stations in the first cluster set and the second cluster set of the target base station's cluster set;

[0090] In this embodiment, parameter e is defined. i , representing the clustering correlation degree of base station i.

[0091] The set of all base stations corresponding to base station i and The sum of the number of times each element appears in the cluster is the clustering correlation degree e of base station i. i The cluster association degree of the target base station is the total number of times the target base station appears in the cluster set of all base stations in the underground roadway.

[0092] In some embodiments, the first extension direction is the forward extension direction of the target base station along the center line of the alley; the second extension direction is the backward extension direction of the target base station along the center line of the alley.

[0093] In some embodiments, the bounded constrained breadth-first search algorithm rules include: a breadth-first search algorithm and bounded constraints based on the effective ranging range. Based on the bounded constrained breadth-first search algorithm rules for undirected graphs, searching the first cluster set and the second cluster set includes:

[0094] Based on the undirected graph, a multi-segment search is constructed along the first extension direction of the target base station in the underground roadway and along the second extension direction in the underground roadway, respectively, using the breadth-first search algorithm to search for base stations that conflict with the target base station.

[0095] If it is determined that the polyline satisfies the bounded constraint conditions, then the search is considered successful, and the first cluster set and the second cluster set are generated.

[0096] Based on the first cluster set and the second cluster set, generate the cluster set of the target base station;

[0097] Bounded constraints based on the effective ranging range include:

[0098] A polyline consists of one or two segments;

[0099] When a polyline is a single segment, the length of the polyline is less than twice the effective ranging range of the base station; when a polyline is a two-segment polyline, the length of each segment is less than the effective ranging range of the base station.

[0100] The polyline does not intersect with the edge line of the underground roadway.

[0101] In this embodiment, the bounded constrained breadth-first search algorithm rules include: a breadth-first search algorithm and bounded constraints based on the effective ranging range. Bounded Constrained Breadth-First Search (BC-BFS) is an improved graph traversal algorithm that introduces physically-based bounded constraints on top of traditional breadth-first search (BFS). By combining the efficient search capability of BFS with constraints based on the effective ranging range, it can quickly and accurately identify other base stations in the underground tunnels whose signals overlap with the target base station.

[0102] Here, Breadth-First Search (BFS) is a traversal algorithm used for graph data structures. Starting from the root node (selecting any arbitrary node as the starting point, which in the underground positioning scenario is the target base station), it first visits all neighboring nodes and then expands outwards layer by layer. In the underground positioning scenario, in an undirected graph, the target base station is considered the starting point of BFS. The search direction is divided into two parts: a first extension direction (e.g., extending forward along the centerline of the tunnel from the tunnel endpoint) and a second extension direction (e.g., the opposite direction). BFS is used to construct polylines to find base stations that may conflict with the target base station's signal. If the polylines satisfy bounded constraints, the search is considered successful, and a first cluster set and a second cluster set are generated.

[0103] In this embodiment, to ensure that the search results conform to actual physical constraints and avoid invalid results due to unreasonable path length or geometric layout, the bounded constrained breadth-first search algorithm includes bounded constraints based on the effective ranging range. These bounded constraints are the method for evaluating whether base station i can find base station j using the bounded constrained breadth-first search. The bounded constraints based on the effective ranging range include: the polyline is one or two segments; when the polyline is one segment, its length is less than twice the effective ranging range of the base station; when the polyline is two segments, the length of each segment is less than the effective ranging range of the base station; and the polyline does not intersect with the edge line of the underground roadway.

[0104] For example, the method to evaluate whether base station i can find base station j based on bounded constrained breadth-first search is as follows:

[0105] If base station i and base station j can be connected by a polyline, and the polyline simultaneously satisfies the following conditions, then base station i can find base station j based on bounded constrained breadth-first search; otherwise, it cannot.

[0106] (1) A polyline consists of one or two segments;

[0107] (2) When the polyline is a single segment, the length of the polyline is less than 2d; when the polyline is a two-segment polyline, the length of each segment is less than d.

[0108] (3) The polyline does not intersect with the roadway edge line.

[0109] Through this design, the BC-BFS algorithm not only retains the efficiency of traditional BFS, but also ensures that the search results meet the requirements of the actual physical environment by introducing constraints based on the effective ranging range. Thus, it can achieve (1) strictly adhere to the effective ranging range and roadway geometry constraints, reducing the possibility of misjudgment; (2) be applicable to complex roadway layouts and flexibly cope with underground environments of different shapes and sizes; and (3) utilize the layer-by-layer expansion characteristics of BFS to quickly find all potential conflicting base stations.

[0110] In some embodiments, the ultra-wideband signal overlap assessment matrix includes multiple matrix elements characterizing whether base stations overlap. Based on the overlap assessment matrix and the effective ranging of each base station in the well, a set of overlapping base stations that overlap with the ultra-wideband signal of the target base station is determined. Determining the set of overlapping base stations that overlap with the base station signal of the target base station includes:

[0111] Based on the effective ranging range of each underground base station, the ultra-wideband signal coverage range of each base station is determined. The ultra-wideband signal coverage range is the range where the distance between any position on the center line of the roadway and the base station is less than the effective ranging range of the base station, and the line does not intersect with the edge line of the roadway.

[0112] If the ultra-wideband signal coverage of other base stations besides the target base station overlaps with the ultra-wideband signal coverage of the target base station, then the matrix elements of other base stations and the target base station in the overlap evaluation matrix are determined to be 1, and the other base stations are marked as overlapping base stations that overlap with the ultra-wideband signal of the target base station.

[0113] Based on overlapping base stations, determine the set of overlapping base stations whose base station signals overlap with the target base station.

[0114] In this embodiment, the UWB signal overlap evaluation matrix is ​​an n×n matrix (assuming there are n base stations in total), used to represent whether the signal coverage areas of any two base stations overlap. For example, assuming the number of base stations is n, a UWB signal overlap evaluation matrix B between base stations is constructed. i,i′ B i,i′ It is an n×n matrix. B i,i′ It includes multiple matrix elements b i,i′ b i,i′ This characterizes whether the signal coverage areas of base station i and base station i' overlap.

[0115] In this embodiment, the ultra-wideband signal coverage range of each base station is determined based on the effective ranging range of each base station underground. The ultra-wideband signal coverage range is the range where the distance between any position on the center line of the tunnel and the base station is less than the effective ranging range of the base station, and the line does not intersect with the edge line of the tunnel.

[0116] In this embodiment, after determining the ultra-wideband signal coverage of each base station, for other base stations besides the target base station, if the ultra-wideband signal coverage of other base stations besides the target base station overlaps with the ultra-wideband signal coverage of the target base station, then the matrix elements of other base stations and the target base station in the overlap evaluation matrix are determined to be 1, and other base stations are marked as overlapping base stations that overlap with the ultra-wideband signal of the target base station; based on the overlapping base stations, the set of overlapping base stations that overlap with the base station signal of the target base station is determined.

[0117] For example, for any base station i, the UWB signal coverage area of ​​base station i is determined, that is, the area where the distance between any position on the center line of the alley and base station i is less than d, and the line does not intersect with the edge line of the alley. When the UWB signal coverage areas of base station i and base station i' overlap, the signal overlap evaluation matrix B... i,i′ The corresponding matrix element b i,i′ The value is 1 if it is not 1, otherwise the value is 0.

[0118] In some embodiments, the objective function is:

[0119]

[0120] Where, x i,j Let j be the decision variable for base station i, j be the number of the response polling code value, i be the base station number, and e be the decision variable for base station i. i Let be the cluster association degree of base station i, where i ranges from [1, n], j ranges from [1, m], n is the number of base stations, and m is the maximum number of base stations in the first cluster set and the second cluster set of base station i.

[0121] The objective function aims to minimize the response polling code value of the target base station, and further minimize the response polling code value of target base stations with high cluster correlation.

[0122] For example, decision variables:

[0123] Where i takes values ​​in the range [1, n] and j takes values ​​in the range [1, m].

[0124] Objective function:

[0125] The objective function aims to minimize the polling coding value of each base station, and the polling coding value of base stations with high cluster correlation should be even smaller, so as to ensure that the base station responds to the tag ranging request as efficiently as possible.

[0126] Where, x i,j Let j be the decision variable for base station i, j be the number of the response polling code value, i be the base station number, and e be the decision variable for base station i. i Let be the cluster association degree of base station i, where i ranges from [1, n], j ranges from [1, m], n is the number of base stations, and m is the maximum number of base stations in the first and second cluster sets of the cluster set of base station i.

[0127] In some embodiments, the first constraint is: Where, x i,j Let i be the decision variable for base station i, where i is the base station number and j is the number of the response polling code value.

[0128] The second constraint is: Where, x i,j Let i be the base station's decision variable, j be the base station number, and x be the response polling code value number. i′,j For the decision variables of overlapping base stations that overlap with the ultra-wideband signal of base station i, b i,i′ Let i be the matrix element of base station i;

[0129] The third constraint is: Where, x i,j Let i be the base station number and j be the response polling code value number, which are the decision variables. Let A be the first cluster set of base station i. i - represents the second cluster set of base station i.

[0130] In some embodiments, the time calculation rule is as follows:

[0131] t×(j-1)

[0132] Where t is the preset single response time of base station i, i is the base station number, and j is the number of the response polling code value.

[0133] For example, solving the above mathematical model, x i,j When the value is 1, the j-th response polling code of base station i is effective, indicating that the response polling code value of base station i is the j-th response polling code value.

[0134] When a positioning tag sends a ranging request data packet, all base stations within the UWB signal coverage area of ​​the positioning tag will receive the ranging request. Each base station within the signal coverage area is assigned a different response polling code value. Each base station responds one by one from smallest to largest according to the size of the response polling code value and the preset single response time t. That is, when the polling code value of base station i is the j-th response polling code value, base station i will send a response packet after receiving the ranging request and after a time period t×(j-1). This can effectively realize anti-collision management of UWB positioning base station response signals.

[0135] The following is a detailed explanation of this application with reference to an application example.

[0136] Underground mining is inherently dangerous, requiring the deployment of numerous equipment, vehicles, and personnel. Various natural and man-made disasters and accidents pose a significant threat to the safety of underground workers. Effective organization and management of underground personnel and vehicles, as well as accident and disaster rescue, necessitate precise location data for these elements. Furthermore, remote and intelligent control of underground equipment relies heavily on real-time, accurate location data. Precise positioning technology has become a crucial technological support for safe mine production. Currently, the most commonly used underground precise positioning technology is Ultra-Wideband (UWB) positioning. UWB positioning base stations are deployed at regular intervals underground. Personnel, vehicles, and equipment carry UWB positioning tags. The distance between the tag and the base station is precisely calculated by measuring the time-of-flight of the pulse signals. Since the coordinates of the UWB positioning base stations are known, the coordinates of the UWB positioning tag can be accurately calculated based on the precise distances between the tag and multiple UWB positioning base stations.

[0137] Underground mining operations cover a wide area with complex tunnel layouts, requiring the deployment of numerous UWB positioning base stations to achieve high coverage and accurate underground positioning. When a positioning tag sends a ranging request data packet, all base stations within its UWB signal coverage area will receive the request. If the response order of these base stations is not properly managed, UWB response signal conflicts may occur, affecting the tag's effective ranging and positioning. There are currently two methods for anti-collision management of base station UWB response signals: (1) Do not intervene and let the base station UWB response signals compete freely. The tag will generally receive the base station signal with high signal strength and faster response time and ignore the response signals of other base stations. The result of this method is that when the signal strength or response time between base stations is similar, the tag ranging will fail. Even if the tag ranging is successful, the tag will not be able to effectively utilize the ranging of other base stations to improve the positioning accuracy. (2) Set up the adjacent base stations of each base station manually. This method is time-consuming and laborious and heavily relies on the experience of technical personnel. When the underground network topology is complex, it is difficult to avoid problems of incomplete consideration or errors. In addition, due to the blasting disturbance and changes in the work site in underground mining operations, the base station needs to be moved frequently. After the base station location is changed, it is difficult to ensure the timeliness of anti-collision management of base station UWB response signals by manual means.

[0138] Therefore, this application example provides a method for preventing collisions in underground UWB positioning base station response signals. This method combines the distribution of underground roadways with the effective ranging range of the base station to achieve anti-collision management of base station response signals, resulting in the following technical effects:

[0139] 1. No manual intervention is required, which can effectively avoid the problem of incomplete or erroneous anti-collision management of base station response signals;

[0140] 2. To achieve automated anti-collision management of base station response signals by combining parameters such as underground roadway distribution and effective ranging range of base stations, with high efficiency and guaranteed timeliness;

[0141] 3. The base station response signals are managed in an orderly manner to ensure that the tag can effectively measure distances with each base station within its signal coverage area, avoiding ranging failures and improving the accuracy of tag positioning by combining multiple ranging information.

[0142] 4. When the base station is relocated, the anti-collision management strategy for the base station response signal can be automatically updated, thereby ensuring the availability and maintainability of the system in the mine.

[0143] Below, in conjunction with Figure 2 The implementation process of the technical solution in this application example is explained in detail.

[0144] Step 201: Perform directed clustering analysis on the base stations to determine the upper limit of the number of base stations that can respond simultaneously.

[0145] Here, the centerline of the underground roadway is constructed as an undirected graph D. Let the effective ranging range of the base station's UWB signal be d. For any base station i, a bounded, constrained breadth-first search is performed along both directions of the roadway where the base station is located to obtain other base stations that may have signal response conflicts with base station i. Base station i and these other potentially conflicting base stations are then clustered into a set. and This represents the set of base station clusters obtained by searching along the two directions of the alley.

[0146] Bounded constrained breadth-first search refers to using the breadth-first search algorithm to improve search efficiency while ensuring that the searched base stations are bounded and constrained. The method for evaluating whether base station i can find base station j based on bounded constrained breadth-first search is as follows:

[0147] If base station i and base station j can be connected by a polyline, and the polyline simultaneously satisfies the following conditions, then base station i can find base station j based on bounded constrained breadth-first search; otherwise, it cannot.

[0148] (1) A polyline consists of one or two segments;

[0149] (2) When the polyline is a single segment, the length of the polyline is less than 2d; when the polyline is a two-segment polyline, the length of each segment is less than d.

[0150] (3) The polyline does not intersect with the roadway edge line.

[0151] Let the set of all base stations be defined. and The maximum number of elements in the middle is m, which is the upper limit of the number of base stations that can respond at the same time.

[0152] Step 202: Base station clustering correlation analysis to determine the correlation degree of each base station.

[0153] Here, the parameter e is defined. i , representing the clustering correlation degree of base station i.

[0154] Here, base station i is the set of all base stations corresponding to it. and The sum of the number of times each element appears in the cluster is the clustering correlation degree e of base station i. i .

[0155] Step 203: Construct the UWB signal overlap evaluation matrix between base stations.

[0156] Here, assuming the number of base stations is n, we construct the UWB signal overlap evaluation matrix B between base stations. i,i′ B i,i′ It is an n×n matrix.

[0157] For any base station i, determine the UWB signal coverage area of ​​base station i, that is, the range where the distance between any position on the center line of the alley and base station i is less than d, and the line does not intersect with the edge line of the alley.

[0158] When the UWB signal coverage areas of base station i and base station i' overlap, the signal overlap evaluation matrix B i,i′ The corresponding element b i,i′ The value is 1 if it is not 1, otherwise the value is 0.

[0159] Step 204: Establish an optimization mathematical model for anti-collision of the response signal of the underground UWB positioning base station (i.e., the response anti-collision model).

[0160] Decision variables:

[0161] Where i takes values ​​in the range [1, n] and j takes values ​​in the range [1, m].

[0162] Objective function:

[0163] The objective function aims to minimize the polling coding value of each base station, with an even smaller polling coding value for base stations with high cluster correlation, thereby ensuring the base station responds to tag ranging requests with the highest possible efficiency.

[0164] constraint:

[0165] (1) Only one of the m types of response polling codes of the base station is effective (first constraint):

[0166]

[0167] (2) The same polling code for base stations with overlapping UWB signals cannot be active simultaneously (second constraint):

[0168]

[0169] (3) Within the same cluster set, the response polling codes of each base station are different (third constraint):

[0170]

[0171] Step 205: Solve the mathematical model to obtain the response polling code for each base station.

[0172] Solve the above mathematical model, x i,j When the value is 1, the j-th response polling code of base station i is effective, indicating that the response polling code value of base station i is the j-th response polling code value.

[0173] When a positioning tag sends a ranging request data packet, all base stations within the UWB signal coverage area of ​​the positioning tag will receive the ranging request. Each base station within the signal coverage area is assigned a different response polling code value. Each base station responds in order of increasing value according to the polling code value and the preset single response time t. That is, when the polling code value of base station i is the j-th polling code value, base station i will send a response packet after receiving the ranging request and after a time period t×(j-1). This can effectively realize anti-collision management of UWB positioning base station response signals.

[0174] To implement the methods of the embodiments of this application, the embodiments of this application also provide an electronic device. Figure 3 The diagram shows only an exemplary structure of the electronic device, not the entire structure; implementation is possible as needed. Figure 3 The diagram shows part or all of the structure. For example... Figure 3 As shown, the electronic device 300 provided in this application embodiment includes: at least one processor 301, a memory 302, a user interface 303, and at least one network interface 304. The various components in the electronic device 300 are coupled together via a bus system 305. It can be understood that the bus system 305 is used to implement communication between these components. In addition to a data bus, the bus system 305 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 3 The general designated all buses as Bus System 305.

[0175] The user interface 303 may include a monitor, keyboard, mouse, trackball, click wheel, buttons, touchpad, or touch screen.

[0176] The memory 302 in this embodiment is used to store various types of data to support the operation of the electronic device. Examples of such data include any computer program used to operate on the electronic device.

[0177] The anti-collision method for underground ultra-wideband positioning base station response signals of electronic devices disclosed in this application can be applied to or implemented by processor 301. Processor 301 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the anti-collision method for underground ultra-wideband positioning base station response signals of electronic devices can be completed by integrated logic circuits in the hardware or by instructions in the software form of processor 301. The aforementioned processor 301 can be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Processor 301 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. A general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in memory 302. The processor 301 reads the information in memory 302 and, in conjunction with its hardware, completes the steps of the anti-collision method for the underground ultra-wideband positioning base station response signal of the electronic device provided in this application embodiment.

[0178] In an exemplary embodiment, the electronic device may be implemented by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components to perform the aforementioned method.

[0179] It is understood that memory 302 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or... Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM). The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memory.

[0180] In an exemplary embodiment, this application also provides a computer storage medium, specifically a computer-readable storage medium storing a computer program thereon. This computer program can be executed by a processor to complete the steps of the method described in this application embodiment. The computer-readable storage medium can be a memory such as ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM.

[0181] It should be noted that terms such as "first" and "second" are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0182] Furthermore, the technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0183] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for preventing collisions in response signals of an underground ultra-wideband positioning base station, characterized in that, include: In response to a ranging request issued by an underground positioning tag, multiple target base stations within the ultra-wideband signal coverage area of ​​the underground positioning tag are identified; For each of the plurality of target base stations, solve the anti-collision model of the target base station and determine the effective target response polling code of the target base station; The anti-collision response model is constructed based on the underground roadway topology and the overlap relationship of ultra-wideband signals between base stations generated by the effective ranging of each underground base station. Based on the effective target response polling code value, the preset single response time of each target base station and the set time calculation rules, the target response time of each target base station is determined so that each target base station can respond independently at the target response time of the target base station. The target base stations are controlled to generate response messages for the ranging request within the response time of each target within the polling coding value of each target in ascending order. The method further includes: Based on the topological structure of the underground roadway centerline, an undirected graph of the underground roadway is constructed. Based on the bounded constrained breadth-first search algorithm rules for undirected graphs, a cluster set of target base stations is searched. The cluster set of target base stations includes: a first cluster set and a second cluster set; the first cluster set consists of base stations that have signal response conflicts with the target base station along a first extension direction of the underground roadway, and the second cluster set consists of other base stations that have signal response conflicts with the target base station along a second extension direction of the underground roadway; the bounded constrained breadth-first search algorithm rules include: a breadth-first search algorithm and bounded constraints based on the effective ranging range; Based on the overlap evaluation matrix and the effective ranging of each underground base station, a set of overlapping base stations that overlap with the ultra-wideband signal of the target base station is determined. The set of overlapping base stations represents the ultra-wideband signal overlap relationship between the target base stations. The ultra-wideband signal overlap evaluation matrix includes multiple matrix elements that represent whether the base station signals overlap. Based on the objective function, the first constraint, the second constraint, and the third constraint, a response anti-collision model for the target base station is generated. The first constraint states that only one of the response polling codes of the target base station is active. The second constraint states that the response polling codes of the target base station and overlapping base stations whose ultra-wideband signals overlap with the target base station cannot be active simultaneously. The third constraint states that within the cluster set of the target base station, the response polling code values ​​of each base station are different. The method further includes: An objective function is constructed based on decision variables characterizing whether the response polling code of the target base station is effective, the cluster correlation degree of the target base station, and the number of response polling codes of the target base station. The number of response polling codes of the target base station is the maximum value of the number of base stations in the first cluster set and the second cluster set of the target base station. The cluster correlation degree of the target base station is the total number of times the target base station appears in the cluster set of each base station in the underground roadway.

2. The method according to claim 1, characterized in that, The first extension direction is the forward extension direction of the target base station along the center line of the alley; the second extension direction is the backward extension direction of the target base station along the center line of the alley.

3. The method according to claim 1, characterized in that, The search for the first cluster set and the second cluster set based on the undirected graph and the bounded constrained breadth-first search algorithm rules includes: Based on the undirected graph, along the first extension direction of the target base station in the underground roadway and along the second extension direction in the underground roadway, a multi-segment search is constructed based on the breadth-first search algorithm to search for base stations that conflict with the target base station. If it is determined that the polyline satisfies the bounded constraint condition, then the search is successful, and the first cluster set and the second cluster set are generated. Based on the first cluster set and the second cluster set, a cluster set for the target base station is generated; The bounded constraints based on the effective ranging range include: The polyline is one or two segments; When the polyline is a single segment, the length of the polyline is less than twice the effective ranging range of the base station; when the polyline is two segments, the length of each segment is less than the effective ranging range of the base station. The polyline does not intersect with the edge line of the underground roadway.

4. The method according to claim 1, characterized in that, The method for determining the set of overlapping base stations that overlap with the ultra-wideband signal of the target base station based on the overlap evaluation matrix and the effective ranging of each base station in the well, includes: Based on the effective ranging range of each underground base station, the ultra-wideband signal coverage range of each base station is determined. The ultra-wideband signal coverage range is the range where the distance between any position on the center line of the roadway and the base station is less than the effective ranging range of the base station, and the line does not intersect with the edge line of the roadway. If the ultra-wideband signal coverage of other base stations besides the target base station overlaps with the ultra-wideband signal coverage of the target base station, then the matrix element of the other base station and the target base station in the overlap evaluation matrix is ​​determined to be 1, and the other base station is marked as an overlapping base station that overlaps with the ultra-wideband signal of the target base station. Based on the overlapping base stations, a set of overlapping base stations that overlap with the base station signal of the target base station is determined.

5. The method according to claim 1, characterized in that, The objective function is: ； in, Let j be the decision variable for base station i, j be the number of the response polling code value, and i be the base station number. Let be the cluster association degree of base station i, where i ranges from [1, n], j ranges from [1, m], n is the number of base stations, and m is the maximum number of base stations in the first cluster set and the second cluster set of base station i. The objective function aims to minimize the response polling code value of the target base station, and further minimize the response polling code value of target base stations with high cluster correlation.

6. The method according to claim 1, characterized in that, The first constraint is: ,in, Let i be the decision variable for base station i, where i is the base station number and j is the number of the response polling code value. The second constraint is: if ,in, Let i be the base station's decision variable, and j be the base station number and j be the response polling code value number. Let i be the decision variable for overlapping base stations whose ultra-wideband signals overlap with those of base station i. Let i be the matrix element of base station i; The third constraint is: ,in, Let i be the base station number and j be the response polling code value number, which are the decision variables. Let i be the first cluster set of base station i. Let i be the second cluster set of base station i.

7. The method according to claim 1, characterized in that, The time calculation rule is as follows: ； Where t is the preset single response time of base station i, i is the base station number, and j is the number of the response polling code value.

8. An electronic device, characterized in that, include: A processor and memory for storing computer programs that can run on the processor, wherein, The processor, when running a computer program, performs the steps of the method according to any one of claims 1 to 7.

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