Underground coal mine positioning method, device, equipment, medium and product

Abstract

The invention relates to the technical field of positioning, in particular to an underground coal mine positioning method and device, equipment, a medium and a product, and the method comprises the steps: obtaining a base station signal received by a terminal when the terminal is located in an underground coal mine; determining the number of base stations performing current communication with the terminal based on the base station signal, and when the number of the base stations does not meet a target condition, determining a target sub-region where the terminal is located currently based on the base station signal; and obtaining a positioning parameter corresponding to the target sub-region, and positioning the terminal based on the positioning parameter and the base station signal. The signal characteristics of different positions of the target sub-area can be confirmed through the positioning parameters corresponding to the target sub-area, and then the terminal is positioned in combination with the base station signal, so that the positioning precision can be improved, the problem of inaccurate positioning caused by tortuous coal mine underground roadway can be solved, and the method can be applied to complex scenes such as a coal mine driving working face.

Description

Technical Field

[0001] The present disclosure relates to the field of positioning technology, and in particular to a positioning method, device, equipment, medium and product for underground coal mines. Background Art

[0002] In mining operations such as coal mining and tunneling, due to the complex underground working environment, personnel are often required to work across regions or move underground. Therefore, the positioning of underground personnel is essential. Keeping track of the location information of underground personnel or equipment at all times can not only ensure personnel safety, but also improve production efficiency.

[0003] Currently, the commonly used positioning method for mine operations is trilateral positioning based on ultra-wideband (UWB) technology. However, this positioning method has high requirements for the positioning environment in which personnel are located. If there are obstructions in the positioning environment, such as a tunnel environment like an excavation working face, it will seriously affect the positioning accuracy, resulting in large errors in the final calculated positioning results. Summary of the Invention

[0004] The present disclosure is proposed in view of the above problems, and provides a positioning method, device, equipment, medium and product in a coal mine.

[0005] According to one aspect of the present disclosure, a positioning method in a coal mine is provided, comprising:

[0006] When the terminal is located in an underground coal mine, acquiring a base station signal received by the terminal; wherein the area under the coal mine includes a plurality of pre-divided sub-areas;

[0007] determining the number of base stations currently communicating with the terminal based on the base station signals, and when the number of base stations does not meet a target condition, determining a target sub-area in which the terminal is currently located based on the base station signals;

[0008] Acquire positioning parameters corresponding to the target sub-area, and locate the terminal based on the positioning parameters and the base station signal; wherein the positioning parameters represent signal characteristics of the target sub-area.

[0009] The positioning parameters corresponding to the target sub-area can be used to confirm the signal characteristics of different positions in the target sub-area, and then the terminal can be positioned in combination with the base station signal, which can improve the positioning accuracy and help solve the problem of inaccurate positioning caused by the twists and turns of underground coal mine tunnels. It can be applied to complex scenarios such as coal mine excavation working faces.

[0010] In addition, the positioning method in a coal mine according to one aspect of the present disclosure further includes:

[0011] Divide the area under the coal mine into multiple sub-areas, each of the sub-areas includes at least one positioning point; wherein the positioning point is a signal collection point in the offline collection phase, and each of the sub-areas includes at least one base station;

[0012] Identifying the number of base stations in each of the sub-areas, and setting temporary base stations for sub-areas where the number does not meet a preset requirement;

[0013] Acquire base station signals corresponding to the respective positioning points, and generate positioning parameters for the respective positioning points based on the base station signals corresponding to the respective positioning points, the positioning parameters including the distance between the positioning point and the corresponding base station; wherein, if a temporary base station is provided in the sub-area where the positioning point is located, the corresponding base stations include the base station and the temporary base station;

[0014] Based on the positioning parameters of the positioning points included in each of the sub-areas, the position range information of each of the sub-areas is calculated.

[0015] By setting up temporary base stations for sub-areas where the number of base stations doesn't meet the preset requirements, the positioning accuracy of each location point can be improved during the offline collection phase. In practice, by obtaining the virtual distance between the terminal and the temporary base station, the terminal can be triangulated, which helps improve the positioning accuracy of the terminal in coal mines. Setting up temporary base stations only during the offline collection phase and removing them after the collection is complete helps reduce the installation, maintenance, and usage costs of the base stations.

[0016] In addition, according to an aspect of the present disclosure, a positioning method in a coal mine, determining the target sub-area where the terminal is currently located based on the base station signal, includes:

[0017] Calculating, based on the base station signal, an actual distance between the terminal and a corresponding base station that sends the base station signal;

[0018] Based on the actual distance, determining possible location information of the terminal;

[0019] The pre-stored location range information of each of the sub-areas is obtained, the possible location information is matched with the location range information of each of the sub-areas, and the target sub-area where the terminal is currently located is determined from among the sub-areas.

[0020] The location range information of each sub-area can be calculated based on the positioning parameters of the positioning points obtained during the offline collection phase. By matching the possible location information with the location range information of each sub-area, the target sub-area where the terminal may currently be located can be identified, which can narrow the positioning range of the terminal and help improve subsequent positioning accuracy.

[0021] In addition, according to an aspect of the positioning method in a coal mine, a base station and a temporary base station are provided in the target subarea during an offline collection phase, and the positioning parameters include the distances between each positioning point in the target subarea and the base station and the temporary base station during the offline collection phase; positioning the terminal based on the positioning parameters and the base station signal includes:

[0022] Calculating, based on the base station signal, an actual distance between the terminal and the base station that sends the base station signal;

[0023] Calculate the Euclidean distance between the actual distance and each positioning parameter, and obtain K target positioning points with the smallest Euclidean distance, where K is a positive integer greater than or equal to 1;

[0024] The terminal is positioned based on the actual distance and the distances between the K target positioning points and the temporary base station.

[0025] By calculating the Euclidean distance, the target positioning point that is possibly closest to the terminal is selected from multiple positioning points, and the distance between the target positioning point and the temporary base station is obtained based on the positioning parameters of the target positioning point, which can improve the positioning accuracy of the terminal.

[0026] In addition, according to an aspect of the present disclosure, the positioning method in a coal mine, positioning the terminal based on the actual distance and the distances between the K target positioning points and the temporary base station, includes:

[0027] When K is equal to 1, the distance between the target positioning point and the temporary base station is used as the virtual distance; when K is greater than 1, the distances between the K target positioning points and the temporary base station are weighted averaged to obtain the virtual distance;

[0028] The actual distance and the virtual distance are weightedly calculated by weighted least squares trilateration method to obtain a positioning result of the terminal; wherein the weight of the actual distance is greater than the weight of the virtual distance.

[0029] In addition, the positioning method in a coal mine according to one aspect of the present disclosure further includes:

[0030] When the number of base stations meets the target condition, calculating, based on the base station signal, an actual distance between the terminal and the base station that sends the base station signal;

[0031] The actual distance is calculated using a three-sided positioning algorithm to obtain a positioning result of the terminal.

[0032] When the number of base stations meets the target conditions, the three-side positioning algorithm can be used directly to locate the terminal.

[0033] According to another aspect of the present disclosure, a positioning device is provided in a coal mine, comprising:

[0034] an acquisition module, configured to acquire a base station signal received by the terminal when the terminal is located underground in a coal mine; wherein the area underground in the coal mine includes a plurality of pre-divided sub-areas;

[0035] an area identification module, configured to determine the number of base stations currently communicating with the terminal based on the base station signals, and when the number of base stations does not meet a target condition, determine a target sub-area in which the terminal is currently located based on the base station signals;

[0036] A calculation module is used to obtain positioning parameters corresponding to the target sub-area and locate the terminal based on the positioning parameters and the base station signal; wherein the positioning parameters represent signal characteristics of the target sub-area.

[0037] According to another aspect of the present disclosure, a computer device is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the method of the above aspect.

[0038] According to another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method of the above aspect is implemented.

[0039] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, which implements the method of the above aspect when executed by a processor.

[0040] It is to be understood that both the foregoing general description and the following detailed description are exemplary, and are intended to provide further explanation of the technology as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and other purposes, features, and advantages of the present disclosure will become more apparent through a more detailed description of the embodiments of the present disclosure in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and are not intended to limit the present disclosure. In the drawings, the same reference numerals generally represent the same components or steps.

[0042] Figure 1 2 is a system architecture diagram illustrating the application of the positioning method in a coal mine according to an embodiment of the present disclosure.

[0043] Figure 2 It is a schematic diagram illustrating the deployment of base stations in an excavation working face according to an embodiment of the present disclosure.

[0044] Figure 3 FIG2 is a schematic diagram illustrating the deployment of base stations in the offline collection phase according to an embodiment of the present disclosure.

[0045] Figure 4 FIG. 1 is a flowchart illustrating an application of a positioning method in an underground coal mine according to an embodiment of the present disclosure.

[0046] Figure 5 2 is a schematic structural diagram illustrating a positioning device in a coal mine according to an embodiment of the present disclosure.

[0047] Figure 6 FIG2 is a schematic diagram illustrating the structure of a computer device according to an embodiment of the present disclosure.

[0048] Figure 7 is a schematic diagram illustrating a computer program product according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the present disclosure more apparent, the following will describe in detail exemplary embodiments of the present disclosure with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the exemplary embodiments described herein.

[0050] At present, coal mining enterprises widely use positioning systems based on UWB technology to perform real-time perception and positioning of personnel and vehicles underground in coal mines, realize the positioning and real-time monitoring of personnel and vehicles underground in coal mines, and ensure the safety of coal mine operations.

[0051] Most positioning systems currently deployed underground in coal mines use UWB trilateration technology. While simple and highly accurate, UWB trilateration requires clear line of sight between the terminal and the base station. This requires the UWB signal to be in line of sight (LOS) conditions. Under LOS conditions, UWB distance measurements achieve the highest accuracy. However, when objects block the distance between the terminal and the base station, the signal is called an NLOS (Non-Line-Of-Sight) signal. NLOS signals refract and reflect, causing the distance measurement between the terminal and the base station to increase, resulting in significant errors in the final calculated coordinates. Therefore, in actual underground coal mine operations, especially in coal mine excavation working faces, the winding terrain of the tunnels can prevent the terminal and base station from seeing each other due to walls or coal cladding, leading to extremely inaccurate positioning results.

[0052] The above describes, with reference to the accompanying drawings, a method, device, equipment, medium and product for positioning underground in a coal mine according to an embodiment of the present disclosure. The positioning parameters corresponding to the target sub-area can be used to confirm the signal characteristics of different positions in the target sub-area, and then the terminal can be positioned in combination with the base station signal, which can improve the positioning accuracy and is conducive to solving the problem of inaccurate positioning caused by the twists and turns of underground coal mine tunnels.

[0053] To facilitate understanding of this embodiment, a coal mine positioning method disclosed in an embodiment of the present disclosure is first introduced in detail. The execution subject of the coal mine positioning method provided in the embodiment of the present disclosure is generally a computer device with certain computing capabilities. The computer device includes, for example: a terminal device or a server or other processing device. The terminal device can be a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. In some possible implementations, the coal mine positioning method can be implemented by a processor calling computer-readable instructions stored in a memory.

[0054] like Figure 1 FIG. 1 is a system architecture diagram of a positioning method for an underground coal mine provided by an embodiment of the present disclosure, including a terminal 1, a base station 2, and a server 3. The positioning method of this embodiment can be applied to a terminal or a server. In this embodiment, the server 3 is used as the execution subject of the positioning method. The application scenario is an underground coal mine excavation working face. Specifically, the following steps are included:

[0055] S101: Divide the excavation working face into multiple sub-areas according to the plan of the excavation working face and the base station layout location map.

[0056] The sub-areas are closed rectangles, ensuring that each sub-area has at least one base station. Figure 2 The following is a schematic diagram of the base station layout of the excavation working face, and the sub-area base station layout table is obtained, as shown in Table 1:

[0057] Table 1 Sub-area base station layout

[0058] Sub-area Base Station List Z1 {1,2,3,4} Z2 {2,7} Z3 {12} Z4 {5,6,7,8,12}

[0059] S102: Offline collection stage.

[0060] Positioning points for offline data collection are set at different locations in each sub-area. A patrol robot equipped with a UWB terminal traverses the positioning points in each sub-area to obtain the positioning parameters at each positioning point.

[0061] The positioning parameters include the distance d between the positioning terminal and multiple corresponding base stations. For example, in subarea Z1, where base stations 1, 2, 3, and 4 are deployed, the positioning parameters for the positioning points within Z1 are d(d1, d2, d3, d4), where d1 represents the distance between the positioning point and base station 1, d2 represents the distance between the positioning point and base station 2, and so on. The same applies to d3 and d4.

[0062] If the number of base stations in a sub-area is less than three (e.g. Z2 and Z3), a temporary base station is set up to ensure that the sub-area contains at least three LOS base stations, e.g. Figure 3 The figure shows a schematic diagram of the base station layout during the offline collection phase. Temporary base stations 9, 10, and 11 are battery-powered and are only used during the offline collection phase. After the offline collection of a sub-area is completed, the temporary base station can be moved to the next sub-area to be collected and reused. After the offline collection phase is completed, the temporary base station is uninstalled. By setting up temporary base stations for sub-areas whose number does not meet the preset requirements, the positioning accuracy of each positioning point during the offline collection phase can be improved. In actual applications, the terminal is triangulated by obtaining the virtual distance between the terminal and the temporary base station, which is beneficial to improving the positioning accuracy of the terminal in coal mines. Temporary base stations are only set up during the offline collection phase and removed after the collection is completed, which is beneficial to reducing the installation, maintenance, and use costs of the base stations.

[0063] As the terminal traverses each sub-area, it reports the positioning parameters of different positioning points within each sub-area to the server. The server stores the received positioning parameters of each positioning point in the distance fingerprint database ZoneDistanceDb = {zoneId, d}. The server also uses the least squares algorithm to calculate the rough coordinate range (i.e., location range information) of each sub-area based on the base station (non-temporary base station) signals received by the terminal, and stores it in the sub-area coordinate fingerprint database ZoneCoordinateDb.

[0064] By collecting base station signals corresponding to positioning points in each sub-area, positioning parameters for each positioning point are generated, enabling signal acquisition during the offline acquisition phase. Assuming a sub-area includes two base stations and one temporary base station, the positioning parameters for positioning points in this sub-area include the distances from the positioning point to the two base stations and the temporary base station. The positioning parameters for each positioning point can be stored in a distance fingerprint database, making it easy to directly retrieve the required data for subsequent practical applications.

[0065] S103: When a person or device carrying a terminal enters the coal mine, the server determines the number of base stations currently communicating with the terminal based on base station signals received by the terminal.

[0066] When the number of base stations meets the target conditions, the actual distance between the terminal and the base station sending the base station signal is calculated based on the base station signal; the actual distance is calculated using the three-sided positioning algorithm to obtain the positioning result of the terminal.

[0067] When the number of base stations does not meet the target condition, the process proceeds to S104.

[0068] The target condition can be set as a quantity threshold. For example, the target condition is considered to be met when the number of base stations is greater than or equal to 3, otherwise it is not met. In addition, during the actual positioning phase, the base station signals that the terminal can receive are all sent by non-temporary base stations. Because temporary base stations only exist during the offline collection phase, the "base station" referred to below in this embodiment does not include temporary base stations.

[0069] S104: The server performs region identification.

[0070] Based on the base station signal received by the terminal, the actual distance between the terminal and the base station that sends the base station signal is calculated. The possible location information of the terminal is calculated based on the actual distance. The possible location information is compared with the pre-stored sub-area coordinate fingerprint database ZoneCoordinateDb to determine the target sub-area where the terminal is currently located from each sub-area.

[0071] S105: The server performs virtual distance measurement.

[0072] According to the target sub-area where the terminal is currently located, the positioning parameters of the positioning point in the target sub-area are obtained from the distance fingerprint database ZoneDistanceDb={zoneId, d} to obtain the parameter set List <d>According to the actual distance between the terminal and the base station that sends the base station signal, the Euclidean distance between the actual distance and each positioning parameter in the parameter set is calculated to obtain K target positioning points with the smallest Euclidean distance, where K is a positive integer greater than or equal to 1.

[0073] When K=1, the distance between the target positioning point and the temporary base station is used as the virtual distance; when K>1, the distances between K target positioning points and the temporary base station are weighted averaged to obtain the virtual distance.

[0074] By calculating the Euclidean distance, the target positioning point that is possibly closest to the terminal is selected from multiple positioning points, and the distance between the target positioning point and the temporary base station is obtained based on the positioning parameters of the target positioning point, which can improve the positioning accuracy of the terminal.

[0075] For example, the terminal receives base station signals from two base stations: D1 and D2, and determines through calculation that the target sub-area where the terminal is located is Figure 3 The Z2 sub-region in .

[0076] When K = 1, the positioning parameters of the target positioning point A are d(d1, d2, d3), where d1 represents the distance between the target positioning point A and base station 2, d2 represents the distance between the target positioning point A and base station 7, and d3 represents the distance between the target positioning point A and the temporary base station 9 set up during the offline collection phase. Since the temporary base station 9 has been removed after the offline collection is completed, d3 is regarded as the virtual distance of the terminal. Based on D1, D2, and d3, the terminal is positioned using the weighted least squares trilateral positioning method.

[0077] When K>1, the positioning parameters of the target positioning point A are d(d1, d2, d3), and the positioning parameters of the target positioning point B are d(d4, d5, d6), where d6 represents the distance between the target positioning point B and the temporary base station 9. At this time, d3 and d6 can be weighted averaged to obtain d α , d α Considered as the virtual distance of the terminal, according to D1, D2 and d α ,The terminal is positioned using the weighted least squares trilateral positioning method.

[0078] S106: The server performs weighted calculation on the actual distance and the virtual distance using a weighted least squares trilateration method to obtain the coordinates of the terminal.

[0079] Among them, the actual distance between the terminal and the base station is obtained based on the UWB line-of-sight communication measurement, so it has higher accuracy and is given a higher weight W p The virtual distance between the terminal and the temporary base station is obtained by matching the fingerprint library, which is less accurate, so it is given a smaller weight W. s , W p +W s =1, and then the coordinates of the terminal are calculated according to different weights as the final positioning result of the terminal.

[0080] The positioning parameters corresponding to the target sub-area can be used to confirm the signal characteristics of different positions in the target sub-area, and then the terminal can be positioned in combination with the base station signal, which can improve the positioning accuracy and help solve the problem of inaccurate positioning caused by the twists and turns of underground coal mine tunnels. It can be applied to complex scenarios such as coal mine excavation working faces.

[0081] On the basis of the above embodiment, this embodiment also provides a positioning method in a coal mine. Figure 4 FIG. 4 is a flow chart of a positioning method for an underground coal mine provided by an embodiment of the present disclosure, wherein the method includes S401 to S403:

[0082] S401: When the terminal is located underground in a coal mine, a base station signal received by the terminal is obtained.

[0083] The area under the coal mine includes multiple pre-divided sub-areas. The specific steps are as follows:

[0084] The area under the coal mine is divided into multiple sub-areas, each sub-area includes at least one positioning point; wherein the positioning point is a signal collection point in the offline collection phase, and each sub-area includes at least one base station;

[0085] Identify the number of base stations in each sub-area and set up temporary base stations for sub-areas where the number does not meet the preset requirement;

[0086] Acquire the base station signals corresponding to each positioning point, and generate positioning parameters for each positioning point based on the base station signals corresponding to each positioning point. The positioning parameters include the distance between the positioning point and the corresponding base station. If a temporary base station is provided in the sub-area where the positioning point is located, the corresponding base stations include the base station and the temporary base station.

[0087] Based on the positioning parameters of the positioning points included in each sub-region, the position range information of each sub-region, that is, the rough coordinate range, is calculated and stored.

[0088] It should be noted that the temporary base station only exists in the offline collection phase and is removed after the offline collection is completed. Therefore, in actual application, the base station signals received by the terminal are all signals sent by non-temporary base stations.

[0089] S402: Determine the number of base stations currently communicating with the terminal based on base station signals. When the number of base stations does not meet a target condition, determine the target sub-area where the terminal is currently located based on the base station signals.

[0090] The target condition can be set to a quantity threshold or signal quality, etc., and can be selected based on actual needs. In this embodiment, it is assumed that the number of base stations is less than three, which is considered to not meet the target condition. When the number of base stations meets the target condition, the actual distance between the terminal and the base station sending the base station signal is calculated based on the base station signal; the actual distance is calculated using the trilateration algorithm to obtain the terminal's positioning result.

[0091] When the number of base stations does not meet the target condition, S402 includes the following steps:

[0092] Calculating, based on the base station signal, the actual distance between the terminal and the corresponding base station that sent the base station signal;

[0093] Based on the actual distance, confirm the possible location information of the terminal;

[0094] The pre-stored location range information of each sub-area is obtained, the possible location information is matched with the location range information of each sub-area, and the target sub-area where the terminal is currently located is determined from among the sub-areas.

[0095] S403: Acquire positioning parameters corresponding to the target sub-area, and locate the terminal based on the positioning parameters and base station signals.

[0096] The positioning parameters represent the signal characteristics of the target sub-area. Since the number of base stations currently communicating with the terminal is less than three, it can be known that the target sub-area has a base station and a temporary base station during the offline collection phase. The positioning parameters corresponding to the target sub-area include the distances between each positioning point in the target sub-area and the base station and temporary base station during the offline collection phase.

[0097] Specifically, S403 includes the following steps:

[0098] Step 1: Based on the base station signal, calculate the actual distance between the terminal and the base station that sends the base station signal;

[0099] Step 2: Calculate the Euclidean distance between the actual distance and each positioning parameter, and obtain the K target positioning points with the smallest Euclidean distance, where K is a positive integer greater than or equal to 1;

[0100] Step 3: Position the terminal based on the actual distance and the distances between the K target positioning points and the temporary base station.

[0101] When K is equal to 1, the distance between the target positioning point and the temporary base station is used as the virtual distance; when K is greater than 1, the distances between the K target positioning points and the temporary base station are weighted averaged to obtain the virtual distance;

[0102] The actual distance and virtual distance are weighted and calculated using the weighted least squares trilateral positioning method to obtain the terminal's positioning result; among them, the weight of the actual distance is greater than the weight of the virtual distance.

[0103] According to another aspect of the embodiment of the present disclosure, a positioning device is provided in a coal mine. Figure 5 As shown, the device includes:

[0104] An acquisition module 501 is configured to acquire a base station signal received by a terminal when the terminal is located in an underground coal mine; wherein the area under the coal mine includes a plurality of pre-divided sub-areas;

[0105] an area identification module 502, configured to determine the number of base stations currently communicating with the terminal based on the base station signals, and if the number of base stations does not meet a target condition, determine a target sub-area in which the terminal is currently located based on the base station signals;

[0106] The calculation module 503 is configured to obtain positioning parameters corresponding to the target sub-area and locate the terminal based on the positioning parameters and the base station signal; wherein the positioning parameters represent signal characteristics of the target sub-area.

[0107] The positioning device in the coal mine is also used for:

[0108] Divide the area under the coal mine into multiple sub-areas, each of the sub-areas includes at least one positioning point; wherein the positioning point is a signal collection point in the offline collection phase, and each of the sub-areas includes at least one base station;

[0109] Identifying the number of base stations in each of the sub-areas, and setting temporary base stations for sub-areas where the number does not meet a preset requirement;

[0110] Acquire base station signals corresponding to the respective positioning points, and generate positioning parameters for the respective positioning points based on the base station signals corresponding to the respective positioning points, the positioning parameters including the distance between the positioning point and the corresponding base station; wherein, if a temporary base station is provided in the sub-area where the positioning point is located, the corresponding base stations include the base station and the temporary base station;

[0111] Based on the positioning parameters of the positioning points included in each of the sub-areas, the position range information of each of the sub-areas is calculated.

[0112] In one or more embodiments, the region identification module 502 is configured to:

[0113] Calculating, based on the base station signal, an actual distance between the terminal and a corresponding base station that sends the base station signal;

[0114] Based on the actual distance, determining possible location information of the terminal;

[0115] The pre-stored location range information of each of the sub-areas is obtained, the possible location information is matched with the location range information of each of the sub-areas, and the target sub-area where the terminal is currently located is determined from among the sub-areas.

[0116] In one or more embodiments, the calculation module 503 is configured to:

[0117] Calculating, based on the base station signal, an actual distance between the terminal and the base station that sends the base station signal;

[0118] Calculate the Euclidean distance between the actual distance and each positioning parameter, and obtain K target positioning points with the smallest Euclidean distance, where K is a positive integer greater than or equal to 1;

[0119] The terminal is positioned based on the actual distance and the distances between the K target positioning points and the temporary base station.

[0120] In one or more embodiments, the calculation module 503 is further configured to:

[0121] When K is equal to 1, the distance between the target positioning point and the temporary base station is used as the virtual distance; when K is greater than 1, the distances between the K target positioning points and the temporary base station are weighted averaged to obtain the virtual distance;

[0122] The actual distance and the virtual distance are weightedly calculated by weighted least squares trilateration method to obtain a positioning result of the terminal; wherein the weight of the actual distance is greater than the weight of the virtual distance.

[0123] The positioning device in the coal mine is also used for:

[0124] When the number of base stations meets the target condition, calculating, based on the base station signal, an actual distance between the terminal and the base station that sends the base station signal;

[0125] The actual distance is calculated using a three-sided positioning algorithm to obtain a positioning result of the terminal.

[0126] The positioning device for underground coal mines provided by the embodiment of the present disclosure and the positioning method for underground coal mines provided by the embodiment of the present disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, operated or implemented by them.

[0127] The present disclosure also provides a computer device to execute the above-mentioned positioning method in coal mines. Figure 6 It shows a schematic diagram of a computer device provided by some embodiments of the present disclosure. Figure 6 As shown, the computer device 60 includes: a processor 600, a memory 601, a bus 602 and a communication interface 603, and the processor 600, the communication interface 603 and the memory 601 are connected via the bus 602; the memory 601 stores a computer program that can be run on the processor 600, and when the processor 600 runs the computer program, it executes the underground coal mine positioning method provided by any of the aforementioned embodiments of the present disclosure.

[0128] The memory 601 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage. The communication connection between the device network element and at least one other network element is achieved through at least one communication interface 603 (which may be wired or wireless), and may use the Internet, a wide area network, a local area network, a metropolitan area network, etc.

[0129] The bus 602 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. The memory 601 is used to store programs, and the processor 600 executes the programs upon receiving execution instructions. The underground coal mine positioning method disclosed in any of the aforementioned embodiments of the present disclosure may be applied to or implemented by the processor 600.

[0130] The processor 600 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method may be completed by hardware integrated logic circuits in the processor 600 or by software instructions. The processor 600 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPTA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It may implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present disclosure. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present disclosure may be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or the like. The storage medium is located in the memory 601 , and the processor 600 reads the information in the memory 601 and completes the steps of the above method in combination with its hardware.

[0131] The computer device provided by the embodiment of the present disclosure and the underground coal mine positioning method provided by the embodiment of the present disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, operated or implemented by them.

[0132] The embodiments of the present disclosure also provide a computer-readable storage medium corresponding to the underground coal mine positioning method provided by the aforementioned embodiments. The computer-readable storage medium is a CD on which a computer program (i.e., a computer program product) is stored. When the computer program is run by a processor, it will execute the underground coal mine positioning method provided by any of the aforementioned embodiments.

[0133] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0134] The computer-readable storage medium provided by the above-mentioned embodiment of the present disclosure and the underground coal mine positioning method provided by the embodiment of the present disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0135] The present disclosure also provides a computer program product. Figure 7 The computer program product 700 carries a program code, namely a computer program 701. The instructions included in the computer program 701 can be used to execute the steps of the underground coal mine positioning method described in the above method embodiment. For details, please refer to the above method embodiment and will not be repeated here.

[0136] The computer program product may be implemented in hardware, software, or a combination thereof. In one embodiment, the computer program product is implemented as a computer storage medium. In another embodiment, the computer program product is implemented as a software product, such as a software development kit (SDK).

[0137] The basic principles of the present disclosure have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this disclosure are merely illustrative and not restrictive, and should not be construed as necessarily possessed by each embodiment of the present disclosure. Furthermore, the specific details disclosed above are provided for illustrative purposes and to facilitate understanding, rather than as limitations. These details do not limit the present disclosure to necessarily being implemented using these specific details.

[0138] The block diagrams of the devices, devices, equipment, and systems involved in this disclosure are intended to be illustrative examples only and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including but not limited to," and can be used interchangeably therewith. The words "or," "and," and "as used herein refer to the words "and / or," and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as," as used herein, refers to the phrase "such as, but not limited to," and can be used interchangeably therewith.

[0139] Additionally, as used herein, "or" used in a list of items beginning with "at least one of" indicates a separate list, so that, for example, a list of "at least one of A, B, or C" means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). Moreover, the word "exemplary" does not mean that the described example is preferred or better than other examples.

[0140] It should also be noted that in the system and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0141] Various changes, substitutions, and modifications may be made to the technology described herein without departing from the teachings defined by the appended claims. Moreover, the scope of the claims of this disclosure is not limited to the specific aspects of the processes, machines, manufactures, compositions of things, means, methods, and actions described above. Currently existing or later developed processes, machines, manufactures, compositions of things, means, methods, or actions that perform substantially the same function or achieve substantially the same results as the corresponding aspects described herein may be utilized. Accordingly, the appended claims include within their scope such processes, machines, manufactures, compositions of things, means, methods, or actions.

[0142] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0143] The above description has been provided for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.< / d>

Claims

1. A positioning method for an underground coal mine, characterized in that: include: When the terminal is located in an underground coal mine, acquiring a base station signal received by the terminal; wherein the area under the coal mine includes a plurality of pre-divided sub-areas; determining the number of base stations currently communicating with the terminal based on the base station signals, and when the number of base stations does not meet a target condition, determining a target sub-area in which the terminal is currently located based on the base station signals; Acquire positioning parameters corresponding to the target sub-area, and locate the terminal based on the positioning parameters and the base station signal; wherein the positioning parameters represent signal characteristics of the target sub-area.

2. The positioning method for an underground coal mine according to claim 1, wherein: Also includes: Divide the area under the coal mine into multiple sub-areas, each of the sub-areas includes at least one positioning point; wherein the positioning point is a signal collection point in the offline collection phase, and each of the sub-areas includes at least one base station; Identifying the number of base stations in each of the sub-areas, and setting temporary base stations for sub-areas where the number does not meet a preset requirement; Acquire base station signals corresponding to the respective positioning points, and generate positioning parameters for the respective positioning points based on the base station signals corresponding to the respective positioning points, the positioning parameters including the distance between the positioning point and the corresponding base station; wherein, if a temporary base station is provided in the sub-area where the positioning point is located, the corresponding base stations include the base station and the temporary base station; Based on the positioning parameters of the positioning points included in each of the sub-areas, the position range information of each of the sub-areas is calculated.

3. The positioning method for an underground coal mine according to claim 1, wherein: Determining the target sub-area where the terminal is currently located based on the base station signal includes: Calculating, based on the base station signal, an actual distance between the terminal and a corresponding base station that sends the base station signal; Based on the actual distance, determining possible location information of the terminal; The pre-stored location range information of each of the sub-areas is obtained, the possible location information is matched with the location range information of each of the sub-areas, and the target sub-area where the terminal is currently located is determined from among the sub-areas.

4. The positioning method for an underground coal mine according to claim 1, wherein: The target sub-area is provided with a base station and a temporary base station during the offline collection phase, and the positioning parameters include the distances between each positioning point in the target sub-area and the base station and the temporary base station during the offline collection phase; Positioning the terminal based on the positioning parameter and the base station signal includes: Calculating, based on the base station signal, an actual distance between the terminal and the base station that sends the base station signal; Calculating the Euclidean distance between the actual distance and each positioning parameter, and obtaining K target positioning points with the smallest Euclidean distance, where K is a positive integer greater than or equal to 1; The terminal is positioned based on the actual distance and the distances between the K target positioning points and the temporary base station.

5. The positioning method for underground coal mines according to claim 4, characterized in that: Positioning the terminal based on the actual distance and the distances between the K target positioning points and the temporary base station, including: When K is equal to 1, the distance between the target positioning point and the temporary base station is used as the virtual distance; when K is greater than 1, the distances between the K target positioning points and the temporary base station are weighted averaged to obtain the virtual distance; The actual distance and the virtual distance are weightedly calculated by using a weighted least squares trilateration method to obtain a positioning result of the terminal; wherein the weight of the actual distance is greater than the weight of the virtual distance.

6. The positioning method for underground coal mines according to claim 1, characterized in that: Also includes: When the number of base stations meets the target condition, calculating, based on the base station signal, an actual distance between the terminal and the base station that sends the base station signal; The actual distance is calculated using a three-sided positioning algorithm to obtain a positioning result of the terminal.

7. A positioning device in a coal mine, characterized in that: include: an acquisition module, configured to acquire a base station signal received by the terminal when the terminal is located underground in a coal mine; wherein the area underground in the coal mine includes a plurality of pre-divided sub-areas; an area identification module, configured to determine the number of base stations currently communicating with the terminal based on the base station signals, and when the number of base stations does not meet a target condition, determine a target sub-area in which the terminal is currently located based on the base station signals; A calculation module is used to obtain positioning parameters corresponding to the target sub-area and locate the terminal based on the positioning parameters and the base station signal; wherein the positioning parameters represent signal characteristics of the target sub-area.

8. A computer embedded device comprising a memory, a processor, and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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