Mine card high-precision composite positioning method and system based on total station, UWB and inertial navigation satellite

Abstract

The invention relates to the technical field of mine transportation equipment positioning, in particular to a mine truck high-precision composite positioning method and system based on a total station, UWB and an inertial navigation satellite. Comprising the following steps: S100, respectively using four positioning methods of a total station, a UWB label, inertial navigation and satellite positioning to obtain mine card position coordinates, namely mine card position information A, mine card position information B, mine card position information C and mine card position information D; s200, determining the weight of the position information obtained by each positioning method; and S300, calculating the final position information of the mine truck according to the weight. The problem that the existing single or traditional positioning technology cannot meet the high-precision and high-reliability positioning requirements of the mine truck in the mine environment is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of mine transportation equipment positioning, and in particular to a high-precision composite positioning method and system for a mining truck based on a total station, UWB, and an inertial navigation satellite. Background Art

[0002] In modern mining operations, mining trucks are key transport equipment, and their operational efficiency and safety directly impact the overall mine's production benefits. Achieving high-precision positioning of mining trucks is crucial for optimizing route planning, improving operational efficiency, and ensuring safe production.

[0003] Currently, single positioning technologies face numerous limitations in mining environments. While total station positioning technology offers high accuracy and can precisely calculate target positions by measuring angles and distances, it is limited by its measurement range and stringent line-of-sight requirements. Within the complex terrain of mines, numerous obstacles, such as buildings, accumulated ore, and undulating hillsides, can easily block the line of sight between the total station and the prism, preventing effective measurement and hindering the positioning needs of mining trucks operating over large areas and continuously. While UWB positioning technology theoretically offers high-precision positioning and strong anti-interference capabilities, in real-world mining environments, the complex spatial structure, the presence of numerous metal equipment, and the intricate layout of tunnels lead to significant signal multipath propagation, significantly impacting positioning accuracy. Its limited signal propagation range often necessitates the deployment of numerous base stations to ensure coverage within a mine's vast operating area. This not only increases costs but also hinders positioning stability due to issues such as signal interference. While inertial positioning technology offers high autonomy and can operate without external signal support, its errors accumulate over time. During long, long-distance haulage operations in mines, relying solely on inertial navigation systems (INS) will gradually increase the positioning error of mining trucks, failing to meet the requirements for sustained and stable positioning accuracy and making it difficult to accurately guide mining trucks along planned routes. Satellite positioning technologies, such as common GPS and Beidou, can provide relatively accurate positioning information in open environments. However, in mining environments, satellite signals are easily obstructed by mountains and buildings, as well as electromagnetic interference, causing signal quality to degrade or even be interrupted. This is particularly true in areas such as canyons, tunnels, and large pits within mines, where positioning accuracy is significantly reduced or even impossible, seriously impacting their reliability in mining operations.

[0004] In summary, existing single or traditional positioning technologies cannot meet the demand for high-precision, high-reliability positioning of mining trucks in mining environments. Developing a composite positioning method and system that can leverage the advantages of multiple positioning technologies while overcoming their respective limitations is urgently needed to improve the efficiency and safety of mining truck operations. This invention, based on this background, aims to provide an innovative solution to significantly improve the accuracy of mining truck positioning, providing a reliable basis for mining truck route planning, and thus effectively improving mining truck operating efficiency. Summary of the Invention

[0005] In order to solve the problem of high-precision and high-reliability positioning of mining trucks in a mining environment, the present invention provides a high-precision composite positioning method and system for mining trucks based on a total station, UWB and inertial navigation satellites.

[0006] The present invention adopts the following technical solution: a high-precision composite positioning method for mining trucks based on total station, UWB and inertial navigation satellite, comprising: S100: Using four positioning methods, namely total station, UWB tag, inertial navigation and satellite positioning, the obtained mining truck position coordinates are mining truck position information A, mining truck position information B, mining truck position information C and mining truck position information D respectively; S200: Determine the weight of location information obtained by each positioning method; S300: Obtain the final location information of the mining truck according to the weight calculation.

[0007] In some embodiments, step S200 includes: Determine the work scenarios, which are divided into the following 4 types; 1) In open scenes with good visibility, the analytic hierarchy process is used to construct a judgment matrix to compare the relative importance of different positioning methods in terms of positioning accuracy, stability, and coverage, and calculate the weight of each positioning method; 2) For close-range and multi-occlusion scenarios, a fuzzy comprehensive evaluation method is used to determine the evaluation factor set for positioning accuracy, anti-occlusion capability, and signal stability. Different positioning methods are fuzzy evaluated under each factor, and the comprehensive weight of each factor is calculated based on the importance weight of each positioning method. 3) In scenarios where satellite signals are blocked, the reliability of each positioning method compared to the ideal positioning method in terms of positioning accuracy is calculated based on the reliability analysis method. The higher the reliability, the greater the weight. This is used to determine the weight of each positioning method in this scenario. 4) In long-distance and long-time working scenarios, the entropy weight method is used to determine the weight of each positioning method based on the information entropy of each positioning method on different indicators. The smaller the information entropy, the more important the positioning method is in positioning and the greater the weight.

[0008] In some embodiments, the analytic hierarchy process includes: 1) Establish a hierarchical model: the target layer determines the weights of the mining truck positioning methods in open areas with good visibility; the criterion layer includes positioning accuracy, stability, and coverage; and the solution layer includes four positioning methods: total station, UWB, inertial navigation, and satellite positioning. 2) Construct a judgment matrix: for each indicator in the criterion layer, compare the relative importance of each positioning method in the solution layer; 3) Calculate the maximum eigenvalue of the judgment matrix and its corresponding eigenvector, normalize the eigenvector and obtain the weight vector of each positioning method under the corresponding indicator; 4) Calculate the combination weight: Set the weights of positioning accuracy, stability, and coverage to be 、 、 The weights of the total station under these three indicators are 、 、 , then the total station combination weight , based on this, the combined weights of UWB, inertial navigation, and satellite positioning are calculated to determine the final weight distribution of different positioning methods in open areas with good visibility.

[0009] In some embodiments, the fuzzy comprehensive evaluation method includes: 1) Determine the evaluation factor set: Select positioning accuracy, anti-occlusion capability, and signal stability as the main evaluation factors to form the evaluation factor set ; 2) Determine the evaluation level set: Divide the positioning effect into different levels ; 3) Constructing a fuzzy relationship matrix: Evaluate each positioning method under each evaluation factor, determine its membership to different evaluation levels, and construct a fuzzy relationship matrix; 4) Determine the weight vector of each factor: Use the hierarchical analysis method to determine the importance weight of each evaluation factor; the weight vector of positioning accuracy, anti-blocking ability, and signal stability ,and ; 5) The comprehensive evaluation vector is obtained by multiplying the fuzzy relationship matrix and the factor weight vector.

[0010] Reliability analysis methods include: 1) Determine the analysis indicators: Positioning accuracy: Determine the total station positioning accuracy, UWB positioning accuracy, inertial navigation positioning accuracy and satellite positioning accuracy; 2) Determine the reliability sequence: The reliability of the total station is set to r1, where r1 is the positioning accuracy of the total station*2; UWB reliability is set to r2, where r2 is the UWB positioning accuracy*2; The reliability of the inertial navigation is set to r3, where r3 is the inertial navigation positioning accuracy*2; The satellite positioning reliability is set to r4, where r4 is the satellite positioning accuracy*2; 3) Determine the weight of each positioning method based on its reliability: Total Station: ; UWB: ; Inertial navigation: ; Satellite positioning: .

[0011] In some embodiments, the entropy weight method includes: 1) Data collection and indicator setting: Collect data on various indicators for each positioning method, including positioning accuracy over time, coverage, and positioning continuity. This data needs to be evaluated based on the test environment on the day of the test. Positioning accuracy changes over time: records the positioning accuracy data of each positioning method at different time points during the driving process of the mining truck; Coverage: Determine the effective coverage of each positioning method on the mining truck's route; Positioning continuity: evaluates the ability of each positioning method to provide continuous positioning information throughout the operation; 2) Data standardization: In this case, there are four positioning methods and three indicators.

[0012] To standardize: in, is the original data of the i-th positioning method on the j-th indicator, and are the minimum and maximum values ​​of the j-th indicator, is the standardized data; 3) Calculate information entropy: For the jth indicator, the calculation formula of information entropy is: The value of n is 4, , ; 4) Calculate entropy weight: The value of m is 3; 5) Determine the weight of each positioning method: .

[0013] A high-precision composite positioning system for mining trucks, comprising: Device A, which is installed on both sides of the mining truck and is provided with a forward-looking prism A. The total station A and the forward-looking prism A cooperate to obtain the position information A of the mining truck; Device B, which is installed in the mining truck cab and has a UWB tag B, obtains the mining truck's location information B through the UWB base station B; Device C, which is installed at the center of gravity of the mining truck and is equipped with an inertial navigation system C for obtaining the location information C of the mining truck; Device D, which is installed on the top of the mining truck operating room. Device D is provided with a satellite positioning receiver D for obtaining the location information D of the mining truck. Satellite positioning receiver D is in communication with the base station; A host computer collects the position information of each device A, device B, device C, and device D, and processes the collected position information according to the high-precision composite positioning method for mining trucks based on a total station, UWB, and inertial navigation satellites as described in any one of claims 1 to 6 to obtain the final position information of the mining trucks.

[0014] The host includes: a processor, a display screen, a wireless data transmission module, a host control keyboard and a DC regulated power supply; among them, the display screen, the wireless data transmission module, the host control keyboard and the output end of the DC regulated power supply are respectively connected to the processor; the wireless data transmission module is connected to devices A, B, C and D via a wireless local area network; the host with a display screen is installed in a remote operation room outside the mining truck operation area.

[0015] Device A includes a microprocessor A, a wireless data transmission module A, a total station A, a front-view prism A, a rear-view prism A, a power conversion module A, and a lithium battery A. The wireless data transmission module A and the total station A are respectively connected to the microprocessor A. The output end of the power conversion module A is connected to the power end of the microprocessor A, and the input end is connected to the lithium battery A. The total station A is installed in a location with good visibility in the mine area. The front-view prism A204 is fixed to both sides of the mine truck, and the rear-view prism A is installed at three locations at different heights in the mine. The device B includes a microprocessor B, a wireless data transmission module B, a UWB tag B, a UWB base station B, a power conversion module B, and a lithium battery B. The wireless data transmission module B and the UWB base station B are respectively connected to the microprocessor B. The output end of the power conversion module B is connected to the power end of the microprocessor B, and the input end is connected to the lithium battery B. The UWB tag B303 is fixed in the mining truck cab, and the UWB base station B is installed at a stable commanding height of the rock formation. The device C includes a microprocessor C, a wireless data transmission module C, an inertial navigation system C, a power conversion module C, and a lithium battery C; wherein the wireless data transmission module C and the inertial navigation system C are respectively connected to the microprocessor C, the output end of the power conversion module C is connected to the power end of the microprocessor C, and the input end is connected to the lithium battery C; The device D includes a microprocessor D, a wireless data transmission module D, a satellite positioning receiver D, a power conversion module D and a lithium battery D; wherein the wireless data transmission module D and the satellite positioning receiver D are respectively connected to the microprocessor D, the output end of the power conversion module D is connected to the power end of the microprocessor D, and the input end is connected to the lithium battery D; the satellite positioning receiver D is fixed on the top of the mining truck operating room.

[0016] The base station includes a microprocessor, a wireless data transmission module, a Beidou positioning module, a power conversion module and a power supply; the wireless data transmission module and the Beidou positioning module are respectively connected to the microprocessor, the output end of the power conversion module is connected to the power end of the Beidou positioning module and the power end of the microprocessor, and the input end is connected to the power supply; the base station is installed in an open and unobstructed high place in the construction environment.

[0017] Compared with the prior art, the present invention has the following beneficial effects: This invention provides a high-precision, composite positioning method and system for mining trucks based on the integration of total station prisms, UWB tags, and inertial navigation satellites. This method aims to address the inability of existing single or traditional positioning technologies to meet the high-precision and high-reliability positioning requirements for mining trucks in mining environments. The technical solution involves installing a device A with total station prisms on both sides of the truck, combined with a total station located in a suitable mine location and three rearview prisms at different heights, to achieve precise measurement of the truck. A device B with a UWB tag is installed in the truck cab, and multiple UWB base stations are installed in the mine operating area to perform positioning using a trilateration algorithm. A device C with an inertial measurement unit is installed at the truck's center of gravity to calculate the truck's position, velocity, and attitude by calculating acceleration and angular velocity. A device D with a satellite positioning receiver is installed atop the truck's operating compartment to calculate the truck's three-dimensional coordinates using satellite signal propagation time. A host computer with a display screen is installed in a remote operating room outside the truck's operating area, and the base station is installed in an open, unobstructed, elevated location. Wireless communication enables data exchange between the host computer and the various devices.

[0018] The unique layout and data-solving algorithm fully integrate the advantages of multiple positioning technologies, effectively overcoming the limitations of a single technology. Total station prism positioning ensures high-precision local measurements, UWB tag positioning adapts to close-range positioning requirements in complex environments, the inertial navigation system provides continuous attitude and motion information, and satellite positioning ensures large-scale positioning in open areas. These multiple technologies complement and work together to significantly improve the accuracy of mining truck positioning, providing a reliable basis for subsequent mining truck route planning. Furthermore, the application of this system has effectively improved mining truck operating efficiency and reduced the safety risks caused by positioning errors, which is of great significance to improving the overall production efficiency and intelligent level of the mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the system structure of the present invention; Figure 2 It is a front view of the present invention; Figure 3 is a side view of the present invention; Figure 4 is a top view of the present invention; Figure 5 This is a schematic diagram of the installation of the sensing device of the present invention; In the figure, 1-cab; 2-hopper; 3-left front view prism; 4-right front view prism; 5-UWB identification card; 6-satellite positioning receiver; 7-inertial navigation system; 8-shovel loading robot; 9-mining truck; 101 - processor; 102 - display screen; 103 - wireless data transmission module; 104 - host control keyboard; 105 - DC regulated power supply; 201 - microprocessor A; 202 - wireless data transmission module A; 203 - total station A; 204 - front view prism A; 205 - rear view prism A; 206 - power conversion module A; 207 - lithium battery A; 301 - microprocessor B; 302 - wireless data transmission module B; 303 - UWB tag B; 304 - UWB base station B; 305 - power conversion module B; 306 - lithium battery B; 401 - microprocessor C; 402 - wireless data transmission module C; 403 - inertial navigation system C; 404 - power conversion module C; 405 - lithium battery C; 501- microprocessor D; 502- wireless data transmission module D; 503- satellite positioning receiver D; 504- power conversion module D; 505- lithium battery D; 601- microprocessor E; 602- wireless data transmission module E; 603- Beidou positioning module; 604- power conversion module E; 605- power supply. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0021] A high-precision composite positioning method for mining trucks based on total station, UWB and inertial navigation satellite, including: S100: Using total station, UWB tag, inertial navigation and satellite positioning, the obtained mining card position coordinates are the mining card position information A , Mining card location information B , Mining card location information C And the location information of the mining card D ; S200: Determine the weight of the location information obtained by each positioning method, and the corresponding weights are 、 、 、 ,and ; S300: Obtain the final location information of the mining truck based on the weight calculation: The fused position coordinates for: income This is the final location information of the mining card.

[0022] Specifically, step S200 includes: Determine the work scenarios, which are divided into the following 4 types; 1) In open scenes with good visibility, the analytic hierarchy process is used to construct a judgment matrix to compare the relative importance of different positioning methods in terms of positioning accuracy, stability, and coverage, and calculate the weight of each positioning method; 2) For close-range and multi-occlusion scenarios, a fuzzy comprehensive evaluation method is used to determine the evaluation factor set for positioning accuracy, anti-occlusion capability, and signal stability. Different positioning methods are fuzzy evaluated under each factor, and the comprehensive weight of each factor is calculated based on the importance weight of each positioning method. 3) In scenarios where satellite signals are blocked, the reliability of each positioning method compared to the ideal positioning method in terms of positioning accuracy is calculated based on the reliability analysis method. The higher the reliability, the greater the weight. This is used to determine the weight of each positioning method in this scenario. 4) In long-distance and long-time working scenarios, the entropy weight method is used to determine the weight of each positioning method based on the information entropy of each positioning method on different indicators. The smaller the information entropy, the more important the positioning method is in positioning and the greater the weight.

[0023] Specifically, the AHP includes: ① Establish a hierarchical model: the target layer is to determine the weights of the mining truck positioning methods in open areas with good visibility; the criterion layer includes key indicators that affect the positioning effect, such as positioning accuracy, stability, and coverage; the solution layer includes four positioning methods: total station, UWB, inertial navigation, and satellite positioning.

[0024] ② Construct a judgment matrix: For each metric in the criteria layer, compare the relative importance of each positioning method in the solution layer. A scale of 1-9 is typically used, with larger numbers indicating greater importance. Trade-offs are made between positioning accuracy, stability, and coverage. Total stations have a clear advantage over UWB positioning accuracy, resulting in higher assigned values; total stations have similar accuracy to satellite positioning, resulting in lower assigned values; and total stations have slightly higher accuracy than inertial navigation positioning, resulting in intermediate assigned values. This constructs a judgment matrix for indicators such as positioning accuracy, stability, and coverage.

[0025] ③Weight vector Weight vector: The eigenvalue method is used to calculate the maximum eigenvalue of the judgment matrix and its corresponding eigenvector. The eigenvector is normalized to obtain the weight vector of each positioning method under the corresponding indicator.

[0026] ④ Calculate the combined weight: perform weighted summation on the weight vector of the positioning method under each indicator and the weight of the indicator itself to obtain the combined weight of each positioning method.

[0027] In this scenario, the weights of positioning accuracy, stability, and coverage are set as 、 、 The weights of the total station under these three indicators are 、 、 , then the total station combination weight , based on this, the combined weights of UWB, inertial navigation, and satellite positioning are calculated to determine the final weight distribution of different positioning methods in open areas with good visibility.

[0028] Fuzzy comprehensive evaluation method includes: ① Determine the evaluation factor set: Combined with the characteristics of the scene and the characteristics of positioning technology, positioning accuracy, anti-blocking ability, and signal stability are selected as the main evaluation factors to form the evaluation factor set .

[0029] ② Determine the evaluation level set: Divide the positioning effect into different levels .

[0030] ③ Construct a fuzzy relationship matrix: Evaluate each positioning method under each evaluation factor, determine its membership to different evaluation levels, and construct a fuzzy relationship matrix. For UWB technology, in terms of positioning accuracy, experts rated its membership to "excellent", "good", "qualified", and "unqualified" as 0.5, 0.3, 0.2, and 0 respectively; in terms of anti-blocking ability, the membership is 0.7, 0.2, 0.1, and 0; in terms of signal stability, the membership is 0.6, 0.3, 0.1, and 0. The fuzzy relationship matrix of UWB technology is: for: .

[0031] ④ Determine the weight vector of each factor: Use the hierarchical analysis method to determine the importance weight of each evaluation factor. Assume that the weight vector of positioning accuracy, anti-blocking ability, and signal stability is ,and The weight vector of UWB technology is .

[0032] ⑤ Perform fuzzy synthesis operation: perform fuzzy synthesis operation based on fuzzy relationship matrix and factor weight vector. UWB technology comprehensive evaluation vector ,Right now: , the comprehensive evaluation vector of UWB technology is normalized, and the comprehensive evaluation result of UWB technology in this scenario accounts for 0.6.

[0033] Reliability analysis methods include: ①Determine the analysis indicators Positioning accuracy: It is known that the total station accuracy is 0.2, UWB accuracy is 0.3, inertial navigation accuracy is 0.4, and satellite positioning accuracy is 0.1.

[0034] Reliability: When satellite signals are blocked, inertial navigation can continue to provide position information and has a high reliability. UWB and total stations can assist in positioning in a local area and have a certain degree of reliability. Satellite positioning has the lowest reliability due to poor signals.

[0035] ②Determine the reliability sequence Total station: Accuracy 0.2, reliability set to 0.4 (with certain reliability within a local range).

[0036] UWB: Accuracy 0.3, reliability set to 0.6 (somewhat reliable in a local area).

[0037] Inertial navigation: accuracy 0.4, reliability set to 0.8 (can continuously provide position information).

[0038] Satellite positioning: accuracy 0.1, reliability set to 0.2 (poor signal, low reliability).

[0039] Dimensionless processing of data is required because the dimensions of each indicator are different. ③ Determine the weight The weight of each positioning method is determined according to its reliability. The higher the reliability, the greater the weight.

[0040] Total Station: ; UWB: ; Inertial navigation: ; Satellite positioning: .

[0041] (1) Entropy weight method ①Data collection and indicator setting Collect data on different indicators of each positioning method, including positioning accuracy changes over time, coverage, positioning continuity, etc. This data needs to be evaluated based on the environment on the day of the test.

[0042] Positioning accuracy changes over time: records the positioning accuracy data of each positioning method at different time points during the driving process of the mining truck.

[0043] Coverage: Determine the effective coverage of each positioning method on the mining truck's route.

[0044] Positioning continuity: Evaluates the ability of each positioning method to provide continuous positioning information throughout the operation.

[0045] ②Data standardization In this case, there are four positioning methods and three indicators.

[0046] The following formula is used for normalization: in, is the original data of the i-th positioning method on the j-th indicator, and are the minimum and maximum values ​​of the j-th indicator, The data are standardized.

[0047] ③Calculate information entropy For the jth indicator, the calculation formula of information entropy is: In this method, four positioning methods are involved, and the value of n is 4. , ④Calculate entropy weight Under this method, three positioning indicators are involved, and the value of m is 3.

[0048] ⑤Determine the weight of each positioning method .

[0049] A high-precision composite positioning system for mining trucks, comprising: Device A, which is installed on both sides of the mining truck and is provided with a forward-looking prism A. The total station A and the forward-looking prism A cooperate to obtain the position information A of the mining truck; Device B, which is installed in the mining truck cab and has a UWB tag B, obtains the mining truck's location information B through the UWB base station B; Device C, which is installed at the center of gravity of the mining truck and is equipped with an inertial navigation system C for obtaining the location information C of the mining truck; Device D, which is installed on the top of the mining truck operating room and is equipped with a satellite positioning receiver D for obtaining the location information D of the mining truck; The host collects the position information of each device A, device B, device C and device D, and processes it according to the high-precision composite positioning method of the mining truck based on the total station, UWB and inertial navigation satellite to obtain the final position information of the mining truck.

[0050] like Figure 5 As shown, the host includes a processor 101, a display screen 102, a wireless data transmission module 103, a host control keyboard 104, and a DC regulated power supply 105; wherein the output ends of the display screen 102, the wireless data transmission module 103, the host control keyboard 104, and the DC regulated power supply 105 are respectively connected to the processor 101; the wireless data transmission module 103 is connected to devices A, B, C, and D on the mining truck via a wireless local area network; the host with a display screen is installed in a remote operating room outside the mining truck operating area; Device A includes a microprocessor A201, a wireless data transmission module A202, a total station A203, a front-view prism A204, a rear-view prism A205, a power conversion module A206, and a lithium battery A207. The wireless data transmission module A202 and the total station A203 are respectively connected to the microprocessor A201. The output end of the power conversion module A206 is connected to the power end of the microprocessor A201, and the input end is connected to the lithium battery A207. The total station A203 in device A is installed in a location with good visibility in the mine area. The front-view prism A204 in device A is fixed to both sides of the mine truck via the device A mounting bracket. The rear-view prism A205 in device A is installed at three locations at different heights in the mine. Device B includes a microprocessor B301, a wireless data transmission module B302, a UWB tag B303, a UWB base station B304, a power conversion module B305, and a lithium battery B306. The wireless data transmission module B302 and the UWB base station B304 are respectively connected to the microprocessor B301. The output end of the power conversion module B305 is connected to the power end of the microprocessor B301, and the input end is connected to the lithium battery B306. The UWB tag B303 in device B is fixed to the mining truck cab via the device B mounting bracket. The UWB base station B304 in device B is installed at a stable commanding height in the rock formation. Device C includes a microprocessor C401, a wireless data transmission module C402, an inertial navigation system C403, a power conversion module C404, and a lithium battery C405. The wireless data transmission module C402 and the inertial navigation system C403 are respectively connected to the microprocessor C401. The output end of the power conversion module C404 is connected to the power end of the microprocessor C401, and the input end is connected to the lithium battery C405. The inertial navigation system C403 in device C is fixed to the center of gravity of the mining truck via the device C mounting bracket. Device D includes a microprocessor D501, a wireless data transmission module D502, a satellite positioning receiver D503, a power conversion module D504, and a lithium battery D505. The wireless data transmission module D502 and the satellite positioning receiver D503 are respectively connected to the microprocessor D501. The output end of the power conversion module D504 is connected to the power end of the microprocessor D501, and the input end is connected to the lithium battery D505. The satellite positioning receiver D503 in device D is fixed to the top of the mining truck operating room through the device D mounting bracket. The base station includes a microprocessor 601, a wireless data transmission module 602, a Beidou positioning module 603, a power conversion module 604, and a power supply 605; wherein the wireless data transmission module 602 and the Beidou positioning module 603 are respectively connected to the microprocessor 601, the output end of the power conversion module 604 is connected to the power end of the Beidou positioning module 603 and the power end of the microprocessor 601, and the input end is connected to the power supply 605; the base station is installed in an open and high place without any obstructions in the construction environment.

[0051] The center of the total station's front-view prism is a circular high-precision optical glass lens. The lens is surrounded by a protective frame structure. The outer side of the frame is connected to the mounting bracket and has a rotation function. A mounting interface component is provided under the mounting bracket to facilitate the stable installation of the front-view prism on both sides of the mining truck.

[0052] Device B's mounting bracket often features a light guide window on one side to facilitate the tag's signal indication or light transmission. The bottom is equipped with a quick-release assembly consisting of a connecting plate, a movable bolt, and a clip. Pushing the clip allows for quick removal of the tag, facilitating charging, testing, or replacement, improving maintenance efficiency. Mounting screw holes are located at the bottom of the bracket, allowing it to be securely installed in the truck cab, ensuring stability during use.

[0053] The mounting bracket for Device C is made of aluminum alloy or carbon fiber composite material and features integrated multi-stage vibration dampers, effectively attenuating external vibration interference with the inertial navigation sensor and ensuring measurement accuracy. The frame features a multi-directional adjustment mechanism, which uses precision screws or angle adjustment knobs to support horizontal alignment and attitude adjustment, adapting to various mounting surfaces. A modular mounting interface is located at the bottom of the bracket, allowing the inertial navigation system to be mounted at the center of gravity of the mining truck.

[0054] The mounting bracket for Device D must meet requirements for optimized signal reception and environmental adaptability. The main frame is constructed of lightweight aluminum alloy, which is corrosion-resistant and deformation-resistant. The bracket incorporates a three-stage shock-absorbing and buffering system (rubber isolation layer + metal spring + damper) to filter high-frequency vibrations and ensure the stability of the receiver antenna phase center. The top of the bracket is equipped with a five-axis adjustable gimbal, enabling pan, tilt, and yaw adjustments. A precision worm gear mechanism enables submillimeter positioning and calibration. A quick-install and quick-release interface is provided at the bottom for mounting the satellite positioning receiver in the mining truck cab.

[0055] The mounting brackets of device A, device B, device C, and device D are fixed to the mounting surface by two-component acrylic structural adhesive, permanent magnetic adsorption, or bolt connection.

[0056] The host processor, porting the microkernel architecture of a real-time operating system (RTOS), establishes a multitasking scheduling mechanism, implementing priority-based time-sharing task management. Within the collaborative framework of the hardware abstraction layer and the RTOS, an embedded graphics rendering engine is integrated to support multi-threaded real-time rendering of the mining truck positioning visualization interface. The system employs a Kalman filter algorithm to synchronize the temporal and spatial fusion of total station positioning data, UWB positioning data, inertial navigation odometer data, and satellite positioning data to generate centimeter-level three-dimensional spatial coordinates of the mining truck. Finally, an industrial-grade display driven by an HDMI / DP interface dynamically displays the mining truck's precise position, trajectory, and fusion error confidence interval in real time, providing intuitive spatial situational awareness for the mining truck's unmanned driving system.

[0057] Example: The host computer includes a processor. The display screen is connected to the processor's SPI interface via an SPI bus data line. The wireless data transmission module is connected to the host processor via a UART serial line. The host control keyboard is connected to the processor's GPIO. A DC regulated power supply is connected to the processor's power pin via a transformer. The host computer is located in a remote operating room outside the mining truck's operating area. Microprocessor A in device A is connected to total station A via a UART serial line. The output of power conversion module A is connected to the power supply terminals of total station A and microprocessor A, respectively, while the input is connected to lithium battery A in device A. Wireless data transmission module A is connected to microprocessor A via a UART serial line. Microprocessor B in device B is connected to UWB base station B via a UART serial line. The output of power conversion module B is connected to the power supply terminals of UWB base station B and microprocessor B, respectively, while the input is connected to lithium battery B in device B. Wireless data transmission module B is connected to microprocessor B via a UART serial line. Microprocessor C in device C is connected to the inertial navigation system via a UART serial cable. The output of power conversion module C is connected to the power supply of microprocessor C, while the input is connected to lithium battery C in device C. Wireless data transmission module C is also connected to microprocessor C via a UART serial cable. Microprocessor D in device D is also connected to the satellite positioning receiver via a UART serial cable. The output of power conversion module D is connected to the power supply of microprocessor D, while the input is connected to lithium battery D in device D. Wireless data transmission module D is also connected to microprocessor D via a UART serial cable. The host, devices A, B, C, and D share data via the wireless data transmission module. This unique layout significantly improves the accuracy of the mining truck's positioning and facilitates subsequent route planning, effectively increasing the truck's operational efficiency.

[0058] The total station uses the Topcon GPT-7000i series, which offers high angular measurement accuracy of up to 1 second and distance measurement accuracy of 3+2ppm×D in reflectorless mode, with even higher accuracy when using a prism. Its long-range measurement capability, exceeding 3km when using a single prism, meets the mine's wide-area measurement needs.

[0059] The front and rear prisms utilize the Sokkia SPMR1 single prism set. When used with a total station, they effectively reflect the laser beam emitted by the instrument, improving measurement accuracy. Their excellent reflective properties and robust structure adapt to the varying installation and operating conditions brought on by complex mine terrain, making them convenient for installation on both sides of a truck for positioning and measurement.

[0060] The UWB tag utilizes the Decawave DWM1001 module, which offers high positioning accuracy, meeting the high-precision positioning requirements of mining trucks. Operating in the 3.5GHz-6.5GHz frequency band, it offers strong anti-interference capabilities and operates stably in the complex electromagnetic environment of mines. Its long communication range, exceeding 100 meters, and low power consumption make it suitable for long-term installation in the cab of mining trucks.

[0061] The JWB02 UWB base station uses Precision Technology. It supports multi-tag positioning and can simultaneously process large amounts of data from UWB tags, meeting the needs of simultaneous positioning of multiple mining trucks within a mining operation area. Its positioning accuracy reaches decimeters, and its communication range can reach hundreds of meters in open environments. With a reasonable layout, it can effectively cover the mining operation area.

[0062] The inertial navigation system uses the Xsens MTi-G-710, which integrates a three-axis gyroscope, accelerometer, and magnetometer. It offers high positioning accuracy and minimal short-term position drift, providing the truck with relatively accurate initial position and attitude information. Its attitude measurement accuracy reaches 0.1°, enabling real-time and precise sensing of the truck's attitude changes. It can stably output accurate data even under dynamic conditions such as high-speed driving or rapid acceleration or deceleration. Furthermore, its compact size and low power consumption make it easy to install at the truck's center of gravity and adapt to the complex vibration, shock, and temperature fluctuations found in mining environments.

[0063] The satellite positioning receiver uses the Trimble R10 GNSS receiver, which supports multi-constellation and multi-band reception and can simultaneously track signals from GPS, Beidou, GLONASS, Galileo, and other satellite systems, significantly improving positioning reliability and accuracy. In open environments, its static positioning accuracy reaches millimeter levels, and its dynamic positioning accuracy reaches sub-meter levels, meeting the high-precision positioning requirements of mining trucks. This receiver boasts strong anti-interference capabilities, utilizing advanced filtering algorithms and hardware design to effectively resist electromagnetic interference in mining environments, ensuring stable satellite signal reception even in complex environments. Its built-in high-performance processor enables rapid data processing and quickly calculates the three-dimensional coordinates of the mining truck.

[0064] The microprocessor uses the STM series STM32F407 chip as the core of the minimum system board.

[0065] The TPS7A4501 voltage regulator chip used stabilizes the voltage of the lithium battery at 5V, providing a stable operating voltage for the microprocessor and Beidou positioning module.

[0066] The Orange Pi 3B controller uses a 64-core 1.8GHz microprocessor and runs the Orange Pi OS (Arch) operating system.

[0067] The display module is an ILI9488 3.5-inch color screen that uses SPI4-wire mode. It is connected to the MCU via the SPI interface to realize color graphic information display.

[0068] The application framework of the VxWorks real-time operating system was ported to a system with the STM32F429IGT6 chip as the host to implement different task scheduling. Based on the hardware driver and the VxWorks real-time operating system, the graphics support system for embedded Linux applications was ported. Qt for Embedded Linux provides an efficient, independent graphical user interface for any application using an LCD graphics display, and is suitable for real or virtual displays of any size under any LCD controller and CPU. It is used to display the bucket posture and positioning information of unmanned shovel loading robots, as well as the interactive interface.

[0069] The wireless data transmission module uses a half-duplex 2.4GHz~2.5GHz nRF24L01+PA+LNA wireless communication module, and connects and communicates with the embedded processor through the SPI interface pins (including the CSN chip select pin, SCK clock signal pin, MOSI communication output pin, and MISO communication input pin).

[0070] The Beidou positioning module used in this invention uses the Unicore UM982 chip and an active ceramic antenna. This antenna integrates a surface acoustic wave (SAW) filter, an ultra-low noise amplifier, and a high-performance ultra-wideband low-noise amplifier to pre-process the received Beidou positioning signals.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-precision composite positioning method for mining trucks based on total station, UWB and inertial navigation satellite, characterized in that: include: S100: Using four positioning methods, namely total station, UWB tag, inertial navigation and satellite positioning, the obtained mining truck position coordinates are mining truck position information A, mining truck position information B, mining truck position information C and mining truck position information D respectively; S200: Determine the weight of location information obtained by each positioning method; S300: Obtain the final location information of the mining truck according to the weight calculation.

2. The high-precision composite positioning method for mining trucks based on total station, UWB and inertial navigation satellite according to claim 1 is characterized in that: The step S200 includes: Determine the work scenarios, which are divided into the following 4 types; 1) In open scenes with good visibility, the analytic hierarchy process is used to construct a judgment matrix to compare the relative importance of different positioning methods in terms of positioning accuracy, stability, and coverage, and calculate the weight of each positioning method; 2) For close-range and multi-occlusion scenarios, a fuzzy comprehensive evaluation method is used to determine the evaluation factor set for positioning accuracy, anti-occlusion capability, and signal stability. Different positioning methods are fuzzy evaluated under each factor, and the comprehensive weight of each factor is calculated based on the importance weight of each positioning method. 3) In scenarios where satellite signals are blocked, the reliability of each positioning method compared to the ideal positioning method in terms of positioning accuracy is calculated based on the reliability analysis method. The higher the reliability, the greater the weight. This is used to determine the weight of each positioning method in this scenario. 4) In long-distance and long-time working scenarios, the entropy weight method is used to determine the weight of each positioning method based on the information entropy of each positioning method on different indicators. The smaller the information entropy, the more important the positioning method is in positioning and the greater the weight.

3. The high-precision composite positioning method for mining trucks based on total station, UWB and inertial navigation satellite according to claim 2 is characterized in that: The analytic hierarchy process includes: 1) Establish a hierarchical model: the target layer determines the weights of the mining truck positioning methods in open areas with good visibility; the criterion layer includes positioning accuracy, stability, and coverage; and the solution layer includes four positioning methods: total station, UWB, inertial navigation, and satellite positioning. 2) Construct a judgment matrix: for each indicator in the criterion layer, compare the relative importance of each positioning method in the solution layer; 3) Calculate the maximum eigenvalue of the judgment matrix and its corresponding eigenvector, normalize the eigenvector and obtain the weight vector of each positioning method under the corresponding indicator; 4) Calculate the combination weight: Set the weights of positioning accuracy, stability, and coverage to be 、 、 The weights of the total station under these three indicators are 、 、 , then the total station combination weight , based on this, the combined weights of UWB, inertial navigation, and satellite positioning are calculated to determine the final weight distribution of different positioning methods in open areas with good visibility.

4. The high-precision composite positioning method for mining trucks based on total station, UWB and inertial navigation satellite according to claim 2 is characterized in that: The fuzzy comprehensive evaluation method includes: 1) Determine the evaluation factor set: Select positioning accuracy, anti-occlusion capability, and signal stability as the main evaluation factors to form the evaluation factor set ; 2) Determine the evaluation level set: Divide the positioning effect into different levels ; 3) Constructing a fuzzy relationship matrix: Evaluate each positioning method under each evaluation factor, determine its membership to different evaluation levels, and construct a fuzzy relationship matrix; 4) Determine the weight vector of each factor: Use the hierarchical analysis method to determine the importance weight of each evaluation factor; the weight vector of positioning accuracy, anti-blocking ability, and signal stability ,and ; 5) The comprehensive evaluation vector is obtained by multiplying the fuzzy relationship matrix and the factor weight vector.

5. The high-precision composite positioning method for mining trucks based on total station, UWB and inertial navigation satellite according to claim 2 is characterized in that: The reliability analysis method includes: 1) Determine the analysis indicators: Positioning accuracy: Determine the total station positioning accuracy, UWB positioning accuracy, inertial navigation positioning accuracy and satellite positioning accuracy; 2) Determine the reliability sequence: The reliability of the total station is set to r1, where r1 is the positioning accuracy of the total station*2; UWB reliability is set to r2, where r2 is the UWB positioning accuracy*2; The reliability of the inertial navigation is set to r3, where r3 is the inertial navigation positioning accuracy*2; The satellite positioning reliability is set to r4, where r4 is the satellite positioning accuracy*2; 3) Determine the weight of each positioning method based on its reliability: Total Station: ; UWB: ; Inertial navigation: ; Satellite positioning: .

6. The high-precision composite positioning method for mining trucks based on total station, UWB and inertial navigation satellite according to claim 2 is characterized in that: The entropy weight method includes: 1) Data collection and indicator setting: Collect data on various indicators for each positioning method, including positioning accuracy over time, coverage, and positioning continuity. This data needs to be evaluated based on the test environment on the day of the test. Positioning accuracy changes over time: records the positioning accuracy data of each positioning method at different time points during the driving process of the mining truck; Coverage: Determine the effective coverage of each positioning method on the mining truck's route; Positioning continuity: evaluates the ability of each positioning method to provide continuous positioning information throughout the operation; 2) Data standardization: In this case, there are four positioning methods and three indicators. To standardize: in, is the original data of the i-th positioning method on the j-th indicator, and are the minimum and maximum values ​​of the j-th indicator, is the standardized data; 3) Calculate information entropy: For the jth indicator, the calculation formula of information entropy is: The value of n is 4, , ; 4) Calculate entropy weight: The value of m is 3; 5) Determine the weight of each positioning method: 。 7. A high-precision composite positioning system for mining trucks, characterized in that: include: Device A, which is installed on both sides of the mining truck and is provided with a forward-looking prism A. The total station A and the forward-looking prism A cooperate to obtain the position information A of the mining truck; Device B, which is installed in the mining truck cab and has a UWB tag B, obtains the mining truck's location information B through the UWB base station B; Device C, which is installed at the center of gravity of the mining truck and is equipped with an inertial navigation system C for obtaining the location information C of the mining truck; Device D, which is installed on the top of the mining truck operating room. Device D is provided with a satellite positioning receiver D for obtaining the location information D of the mining truck. The satellite positioning receiver D is in communication with the base station; A host computer collects the position information of each device A, device B, device C, and device D, and processes the collected position information according to the high-precision composite positioning method for mining trucks based on a total station, UWB, and inertial navigation satellites as described in any one of claims 1 to 6 to obtain the final position information of the mining trucks.

8. The high-precision composite positioning system for mining trucks according to claim 7, characterized in that: The host includes: a processor, a display screen, a wireless data transmission module, a host control keyboard and a DC regulated power supply; wherein the display screen, the wireless data transmission module, the host control keyboard and the output end of the DC regulated power supply are respectively connected to the processor; the wireless data transmission module is connected to device A, device B, device C and device D via a wireless local area network; the host with the display screen is installed in a remote operation room outside the mining truck operation area.

9. The high-precision composite positioning system for mining trucks according to claim 7, characterized in that: The device A includes a microprocessor A, a wireless data transmission module A, a total station A, a front-view prism A, a rear-view prism A, a power conversion module A, and a lithium battery A. The wireless data transmission module A and the total station A are respectively connected to the microprocessor A, the output end of the power conversion module A is connected to the power end of the microprocessor A, and the input end is connected to the lithium battery A. The total station A is installed in a location with good visibility in the mine area, the front-view prism A204 is fixed on both sides of the mine truck, and the rear-view prism A is installed at three locations at different heights in the mine. The device B includes a microprocessor B, a wireless data transmission module B, a UWB tag B, a UWB base station B, a power conversion module B, and a lithium battery B. The wireless data transmission module B and the UWB base station B are respectively connected to the microprocessor B. The output end of the power conversion module B is connected to the power end of the microprocessor B, and the input end is connected to the lithium battery B. The UWB tag B303 is fixed in the mining truck cab, and the UWB base station B is installed at a stable commanding height of the rock formation. The device C includes a microprocessor C, a wireless data transmission module C, an inertial navigation system C, a power conversion module C, and a lithium battery C; wherein the wireless data transmission module C and the inertial navigation system C are respectively connected to the microprocessor C, the output end of the power conversion module C is connected to the power end of the microprocessor C, and the input end is connected to the lithium battery C; The device D includes a microprocessor D, a wireless data transmission module D, a satellite positioning receiver D, a power conversion module D and a lithium battery D; wherein the wireless data transmission module D and the satellite positioning receiver D are respectively connected to the microprocessor D, the output end of the power conversion module D is connected to the power end of the microprocessor D, and the input end is connected to the lithium battery D; the satellite positioning receiver D is fixed on the top of the mining truck operating room.

10. The high-precision composite positioning system for mining trucks according to claim 7, characterized in that: The base station includes a microprocessor, a wireless data transmission module, a Beidou positioning module, a power conversion module and a power supply; wherein the wireless data transmission module and the Beidou positioning module are respectively connected to the microprocessor, the output end of the power conversion module is connected to the power end of the Beidou positioning module and the power end of the microprocessor, and the input end is connected to the power supply; the base station is installed in an open and high place without any obstructions in the construction environment.

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