A High-Precision Composite Positioning Method and System for Mining Trucks Based on Total Station, UWB, and Inertial Navigation Satellite

Abstract

This invention relates to the field of positioning technology for mining transportation equipment, specifically a high-precision composite positioning method and system for mining trucks based on total station, UWB, and inertial navigation satellite. It includes: S100: using four positioning methods—total station, UWB tag, inertial navigation, and satellite positioning—to obtain the mining truck's position coordinates as position information A, position information B, position information C, and position information D, respectively; S200: determining the weight of the position information obtained by each positioning method; S300: calculating the final position information of the mining truck based on the weights. This invention solves the problem that existing single or traditional positioning technologies cannot meet the high-precision, high-reliability positioning requirements of mining trucks in mining environments.

Description

Technical Field

[0001] This invention relates to the field of positioning technology for mining transportation equipment, specifically a high-precision composite positioning method and system for mining trucks based on total station, UWB, and inertial navigation satellite. Background Technology

[0002] In modern mining operations, mining trucks are key transportation equipment, and their operational efficiency and safety directly impact the overall production benefits of the mine. 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 have many limitations in mining environments. While total station positioning technology offers high accuracy, accurately calculating target positions by measuring angles and distances, it is limited by its measurement range and stringent line-of-sight requirements. In the complex terrain of mines, numerous obstacles such as buildings, piled ore, and undulating mountains easily obstruct the line of sight between the total station and the prism, making effective measurements impossible and failing to meet the positioning needs of large-scale, continuous mobile mining operations. Although UWB positioning technology theoretically achieves high-precision positioning and has strong anti-interference capabilities, in actual mining environments, the complex spatial structure, numerous metal equipment, and intricate tunnel layouts lead to severe multipath propagation, significantly impacting positioning accuracy. Its signal propagation distance is limited, often requiring the deployment of numerous base stations to ensure coverage in the vast operating areas of mines. This not only increases costs but also makes it difficult to guarantee positioning stability due to signal interference. Inertial navigation positioning technology offers strong autonomy, capable of operating without external signal support; however, its errors accumulate over time. In long-distance, long-duration transportation operations in mines, relying solely on inertial navigation systems leads to a gradual increase in positioning deviation for mining trucks, failing to meet the requirement for consistently stable positioning accuracy and hindering accurate guidance along planned routes. Satellite positioning technologies, such as GPS and BeiDou, can provide relatively accurate positioning information in open environments. However, in mining environments, satellite signals are easily blocked by mountains and buildings, as well as electromagnetic interference, resulting in signal quality degradation or even interruption. This is especially true in areas such as canyons, tunnels, and large mine pits, where positioning accuracy is significantly reduced, or even impossible, severely impacting the reliability of positioning in mining operations.

[0004] In summary, existing single or traditional positioning technologies cannot meet the high-precision, high-reliability positioning requirements of mining trucks in mining environments. Developing a composite positioning method and system that can comprehensively utilize the advantages of multiple positioning technologies and overcome their respective limitations has become an urgent need to improve the efficiency and safety of mining truck operations. This invention is based on this background and aims to provide an innovative solution to significantly improve the accuracy of mining truck pose positioning, provide a reliable basis for mining truck route planning, and thus effectively improve the operational efficiency of mining trucks. Summary of the Invention

[0005] To address the problem of high-precision and high-reliability positioning of mining trucks in mining environments, this invention provides a high-precision composite positioning method and system for mining trucks based on a total station, UWB, and inertial navigation satellites.

[0006] This 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:

[0007] S100: Using four positioning methods—total station, UWB tag, inertial navigation, and satellite positioning—the obtained mine card location coordinates are mine card location information A, mine card location information B, mine card location information C, and mine card location information D, respectively.

[0008] S200: Determine the weight of the location information obtained by each positioning method;

[0009] S300: The final location information of the mining card is calculated based on the weights.

[0010] In some embodiments, step S200 includes:

[0011] The work scenario can be categorized into the following four types;

[0012] 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 to calculate the weight of each positioning method.

[0013] 2) In close-range and multi-occluded scenarios, the fuzzy comprehensive evaluation method is adopted to determine the evaluation factor set of positioning accuracy, anti-occlusion capability, and signal stability. Fuzzy evaluation is performed on different positioning methods under each factor. The comprehensive weight of different positioning methods is calculated by combining the importance weight of each factor.

[0014] 3) In scenarios where satellite signals are blocked, the reliability of each positioning method and the ideal positioning method is calculated based on the reliability analysis method. The higher the reliability, the greater the weight. Thus, the weight of each positioning method in this scenario is determined.

[0015] 4) In long-distance, long-duration working scenarios, the entropy weight method is used to determine the weight of each positioning method based on the information entropy of each method on different indicators. The smaller the information entropy, the higher the importance of the positioning method in positioning and the greater its weight.

[0016] In some embodiments, the analytic hierarchy process includes:

[0017] 1) Establish a hierarchical model: The target layer determines the weights of the positioning methods for mining cards in open areas with good visibility; the criteria layer includes positioning accuracy, stability, and coverage; the scheme layer includes four positioning methods: total station, UWB, inertial navigation, and satellite positioning.

[0018] 2) Construct a judgment matrix: For each indicator in the criterion layer, compare the relative importance of each positioning method in the scheme layer;

[0019] 3) Calculate the largest eigenvalue of the judgment matrix and its corresponding eigenvector, and normalize the eigenvector to obtain the weight vector of each positioning method under the corresponding index;

[0020] 4) Calculate the combined weights: Set the weights for positioning accuracy, stability, and coverage as follows: , , The weights of the total station under these three indicators are as follows: , , Then the total station combination weight Based on this, the combined weights of UWB, inertial navigation, and satellite positioning are calculated, and the final weight allocation of different positioning methods in open areas with good visibility is determined.

[0021] In some embodiments, the fuzzy comprehensive evaluation method includes:

[0022] 1) Determine the evaluation factor set: Select positioning accuracy, anti-interference capability, and signal stability as the main evaluation factors to form the evaluation factor set. ;

[0023] 2) Determine the evaluation level set: Divide the positioning effect into different levels. ;

[0024] 3) Construct a fuzzy relation matrix: Evaluate each positioning method under each evaluation factor, determine its membership degree to different evaluation levels, and construct a fuzzy relation matrix;

[0025] 4) Determine the weight vectors of each factor: Use the analytic hierarchy process (AHP) to determine the importance weights of each evaluation factor; the weight vectors for positioning accuracy, anti-interference capability, and signal stability. ,and ;

[0026] 5) Obtain the comprehensive evaluation vector by multiplying the fuzzy relation matrix and the factor weight vector.

[0027] Reliability analysis methods include:

[0028] 1) Determine the analysis indicators:

[0029] Positioning accuracy: Determine the positioning accuracy of total station, UWB, inertial navigation, and satellite positioning.

[0030] 2) Determine the reliability sequence:

[0031] The reliability of the total station is set to r1, where r1 is the positioning accuracy of the total station. 2;

[0032] UWB reliability is set to r2, where r2 is the UWB positioning accuracy. 2;

[0033] The reliability of the inertial navigation system is set to r3, where r3 is the positioning accuracy of the inertial navigation system. 2;

[0034] The satellite positioning reliability is set to r4, where r4 is the satellite positioning accuracy. 2;

[0035] 3) Determine the weight of each positioning method based on its reliability:

[0036] Total station: ;

[0037] UWB: ;

[0038] Inertial navigation: ;

[0039] Satellite positioning: .

[0040] In some embodiments, the entropy weight method includes:

[0041] 1) Data collection and indicator setting:

[0042] Collect data on various positioning methods across different metrics, including positioning accuracy over time, coverage, and positioning continuity. This data needs to be evaluated based on the environment on the day of the test.

[0043] Positioning accuracy changes over time: The positioning accuracy data of each positioning method at different time points during the mining truck's journey are recorded;

[0044] Coverage: Determine the effective coverage of each positioning method along the mining truck's route;

[0045] Positioning continuity: Evaluate the ability of each positioning method to provide continuous positioning information throughout the operation;

[0046] 2) Data standardization:

[0047] In this case, there are four positioning methods and three indicators.

[0048] Standardize:

[0049]

[0050] in, It is the original data of the i-th positioning method on the j-th indicator. and These are the minimum and maximum values ​​of the j-th indicator, respectively. The data is standardized.

[0051] 3) Calculate information entropy:

[0052] For the j-th indicator, the formula for calculating information entropy is:

[0053]

[0054] The value of n is 4. , ;

[0055] 4) Calculate the entropy weight:

[0056]

[0057] The value of m is 3;

[0058] 5) Determine the weights of each positioning method:

[0059] .

[0060] A high-precision composite positioning system for mining trucks, comprising:

[0061] Device A is installed on both sides of the mine car. A forward-looking prism A is provided on device A. The total station A and the forward-looking prism A work together to obtain the location information A of the mine car.

[0062] Device B is installed in the cab of the mining truck. A UWB tag B is set on device B, and the location information B of the mining truck is obtained through UWB base station B.

[0063] Device C is installed at the center of gravity of the mining truck, and an inertial navigation system C is installed on device C to obtain the position information C of the mining truck;

[0064] Device D is installed on the top of the mining truck operation room. A satellite positioning receiver D is installed on device D to obtain the location information D of the mining truck. The satellite positioning receiver D is connected to a base station for communication.

[0065] The host computer collects the location information of devices A, B, C, and D, and processes it according to the high-precision composite positioning method for mining trucks based on total station, UWB, and inertial navigation satellite to obtain the final location information of the mining truck.

[0066] The main unit includes: a processor, a display screen, a wireless data transmission module, a main unit control keyboard, and a DC regulated power supply; wherein, the output terminals of the display screen, the wireless data transmission module, the main unit control keyboard, and 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 main unit with the display screen is installed in a remote control room outside the mining truck operation area.

[0067] 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 connected to the microprocessor A. The output of the power conversion module A is connected to the power supply of the microprocessor A, and its input is connected to the lithium battery A. The total station A is installed in a location with good visibility in the mining area. The front-view prism A204 is fixed to both sides of the mine car, and the rear-view prism A is installed at three different heights in the mine.

[0068] 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; wherein 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 supply end of the microprocessor B, and the input end is connected to the lithium battery B; the UWB tag B303 is fixed in the cab of the mining truck, and the UWB base station B is installed at a high point with stable rock strata;

[0069] 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 terminal of the power conversion module C is connected to the power supply terminal of the microprocessor C, and the input terminal is connected to the lithium battery C;

[0070] 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 supply 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 operation room.

[0071] 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 connected to the microprocessor, the output of the power conversion module is connected to the power supply of the BeiDou positioning module and the power supply of the microprocessor, and the input is connected to the power supply. The base station is installed in a high place in an open environment without obstructions.

[0072] Compared with the prior art, the present invention has the following beneficial effects:

[0073] This invention provides a high-precision composite positioning method and system for mining trucks based on the fusion of total station prisms, UWB tags, and inertial navigation satellites. It aims to solve the problem that existing single or traditional positioning technologies cannot meet the high-precision and high-reliability positioning requirements of mining trucks in mining environments. Technically, this invention achieves precise measurement of the mining truck by installing a device A with total station prisms on both sides of the truck, combined with a total station positioned at a suitable location in the mine and three rear-view prisms at different heights. A device B with UWB tags is installed in the truck's cab, and multiple UWB base stations are installed in the mining operation area, using trilateration algorithms for positioning. A device C with an inertial measurement unit is installed at the truck's center of gravity to obtain the truck's position, velocity, and attitude information by calculating acceleration and angular velocity information. A device D with a satellite positioning receiver is installed on the top of the truck's operator's cab to calculate the truck's three-dimensional coordinates using satellite signal propagation time. Simultaneously, the main unit with a display screen is installed in a remote operator's cab outside the mining operation area, and the base stations are installed at a high, unobstructed location. Data interaction between the main unit and each device is achieved through wireless communication.

[0074] 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 the close-range positioning needs in complex environments, the inertial navigation system provides continuous attitude and motion information, and satellite positioning ensures wide-area positioning in open areas. These complementary and collaborative technologies significantly improve the accuracy of mine truck pose positioning, providing a reliable basis for subsequent mine truck route planning. Furthermore, the application of this system effectively improves the operational efficiency of mine trucks and reduces safety hazards caused by positioning errors, which is of great significance for improving the overall production efficiency and intelligent level of the mine. Attached Figure Description

[0075] Figure 1 This is a schematic diagram of the system structure of the present invention;

[0076] Figure 2 This is the front view of the present invention;

[0077] Figure 3 This is a side view of the present invention;

[0078] Figure 4 This is a top view of the present invention;

[0079] Figure 5 This is a schematic diagram of the installation of the sensing device of the present invention;

[0080] In the diagram: 1-Driver's 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-Loading robot; 9-Mining truck;

[0081] 101-Processor; 102-Display screen; 103-Wireless data transmission module; 104-Host control keyboard; 105-DC regulated power supply;

[0082] 201-Microprocessor A; 202-Wireless data transmission module A; 203-Total station A; 204-Front-viewing prism A; 205-Rear-viewing prism A; 206-Power conversion module A; 207-Lithium battery A;

[0083] 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;

[0084] 401 - Microprocessor C; 402 - Wireless data transmission module C; 403 - Inertial navigation system C; 404 - Power conversion module C; 405 - Lithium battery C;

[0085] 501 - Microprocessor D; 502 - Wireless data transmission module D; 503 - Satellite positioning receiver D; 504 - Power conversion module D; 505 - Lithium battery D;

[0086] 601 - Microprocessor E; 602 - Wireless data transmission module E; 603 - Beidou positioning module; 604 - Power conversion module E; 605 - Power supply. Detailed Implementation

[0087] To make the objectives, 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 some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0088] A high-precision composite positioning method for mining trucks based on total station, UWB, and inertial navigation satellite includes:

[0089] S100: Using four positioning methods—total station, UWB tag, inertial navigation, and satellite positioning—the obtained mine card location coordinates are respectively the mine card location information A. Location information of mining card B Location information of mining card C and the location information of the mining card D ;

[0090] S200: Determine the weight of the location information obtained by each positioning method, with the corresponding weights being as follows: , , , ,and ;

[0091] S300: The final location information of the mining truck is calculated based on the weights.

[0092] Merged position coordinates for:

[0093]

[0094]

[0095]

[0096] income This is the final location information of the mining card.

[0097] Specifically, step S200 includes:

[0098] The work scenario can be categorized into the following four types;

[0099] 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 to calculate the weight of each positioning method.

[0100] 2) In close-range and multi-occluded scenarios, the fuzzy comprehensive evaluation method is adopted to determine the evaluation factor set of positioning accuracy, anti-occlusion capability, and signal stability. Fuzzy evaluation is performed on different positioning methods under each factor. The comprehensive weight of different positioning methods is calculated by combining the importance weight of each factor.

[0101] 3) In scenarios where satellite signals are blocked, the reliability of each positioning method and the ideal positioning method is calculated based on the reliability analysis method. The higher the reliability, the greater the weight. Thus, the weight of each positioning method in this scenario is determined.

[0102] 4) In long-distance, long-duration working scenarios, the entropy weight method is used to determine the weight of each positioning method based on the information entropy of each method on different indicators. The smaller the information entropy, the higher the importance of the positioning method in positioning and the greater its weight.

[0103] Specifically, the analytic hierarchy process includes:

[0104] ① Establish a hierarchical model: The target layer determines the weights of the positioning methods for mining cards in open areas with good visibility; the criteria layer includes key indicators that affect the positioning effect, such as positioning accuracy, stability, and coverage; and the scheme layer consists of four positioning methods: total station, UWB, inertial navigation, and satellite positioning.

[0105] ② Constructing a judgment matrix: For each indicator in the criterion layer, compare the relative importance of each positioning method in the scheme layer. A 1-9 scale is typically used, with larger numbers indicating greater importance. Considerations are made for positioning accuracy, stability, and coverage. Total station positioning shows a significant advantage in accuracy over UWB, resulting in a higher assigned value; total station positioning is similar in accuracy to satellite positioning, resulting in a lower assigned value; total station positioning is slightly more accurate than inertial navigation positioning, resulting in a moderate assigned value. Based on this, a judgment matrix is ​​constructed for indicators such as positioning accuracy, stability, and coverage.

[0106] ③ Weight vector

[0107] Weight vector: The largest eigenvalue of the judgment matrix and its corresponding eigenvector are calculated using the eigenvalue method. After normalizing the eigenvector, the weight vector of each positioning method under the corresponding index is obtained.

[0108] ④ Calculate the combined weights: The weight vectors of the positioning methods under each indicator are weighted and summed with the weights of the indicators themselves to obtain the combined weights of each positioning method.

[0109] In this scenario, the weights for positioning accuracy, stability, and coverage are set as follows: , , The weights of the total station under these three indicators are as follows: , , Then the total station combination weight Based on this, the combined weights of UWB, inertial navigation, and satellite positioning are calculated, and the final weight allocation of different positioning methods in open areas with good visibility is determined.

[0110] Fuzzy comprehensive evaluation method includes:

[0111] ① Determine the evaluation factor set: Based on the characteristics of the scenario and the features of the positioning technology, select positioning accuracy, anti-interference capability, and signal stability as the main evaluation factors to form the evaluation factor set. .

[0112] ② Determine the evaluation level set: Divide the positioning effect into different levels. .

[0113] ③ Constructing a fuzzy relation matrix: Evaluate each positioning method under various evaluation factors, determine its membership degree to different evaluation levels, and construct a fuzzy relation matrix. For UWB technology, in terms of positioning accuracy, experts rated its membership degrees to "Excellent," "Good," "Pass," and "Fail" as 0.5, 0.3, 0.2, and 0, respectively; in terms of anti-occlusion capability, the membership degrees were 0.7, 0.2, 0.1, and 0; and in terms of signal stability, the membership degrees were 0.6, 0.3, 0.1, and 0. Therefore, the fuzzy relation matrix of UWB technology... for: .

[0114] ④ Determine the weight vector for each factor: Use the analytic hierarchy process (AHP) to determine the importance weight of each evaluation factor. Assume the weight vectors for positioning accuracy, anti-interference capability, and signal stability are... ,and The weight vector for UWB technology is .

[0115] ⑤ Perform fuzzy synthesis operation: Based on the fuzzy relation matrix and factor weight vector, perform fuzzy synthesis operation. UWB technology comprehensive evaluation vector. ,Right now: The comprehensive evaluation vector of UWB technology was normalized, and the proportion of the comprehensive evaluation result of UWB technology in this scenario was found to be 0.6%.

[0116] Reliability analysis methods include:

[0117] ① Determine the analytical indicators

[0118] Positioning accuracy: The total station accuracy is 0.2, the UWB accuracy is 0.3, the inertial navigation accuracy is 0.4, and the satellite positioning accuracy is 0.1.

[0119] Reliability: When satellite signals are blocked, inertial navigation can continue to provide position information, and its reliability is relatively high; UWB and total station can assist in positioning in a local area and have a certain degree of reliability; satellite positioning has the lowest reliability due to poor signal.

[0120] ② Determine the reliability sequence

[0121] Total station: accuracy 0.2, reliability set to 0.4 (with a certain degree of reliability within a local range).

[0122] UWB: Accuracy 0.3, reliability set at 0.6 (with a certain degree of reliability within a local range).

[0123] Inertial navigation: accuracy 0.4, reliability set at 0.8 (continuously provides position information).

[0124] Satellite positioning: accuracy 0.1, reliability set to 0.2 (poor signal, low reliability).

[0125] The data needs to be dimensionless because the indicators have different dimensions. ③ Determine the weights.

[0126] The weight of each positioning method is determined based on its reliability; the higher the reliability, the greater the weight.

[0127] Total station: ;

[0128] UWB: ;

[0129] Inertial navigation: ;

[0130] Satellite positioning: .

[0131] (1) Entropy weight method

[0132] ① Data collection and indicator setting

[0133] Collect data on various positioning methods across different metrics, including changes in positioning accuracy over time, coverage, and positioning continuity. This data needs to be evaluated based on the environment on the day of the test.

[0134] Positioning accuracy changes over time: The positioning accuracy data of each positioning method at different time points during the mining truck's operation are recorded.

[0135] Coverage: Determine the effective coverage of each positioning method along the mining truck's route.

[0136] Positioning continuity: Evaluate the ability of each positioning method to provide continuous positioning information throughout the operation.

[0137] ② Data standardization

[0138] In this case, there are four positioning methods and three indicators.

[0139] Standardization is performed using the following formula:

[0140]

[0141] in, It is the original data of the i-th positioning method on the j-th indicator. and These are the minimum and maximum values ​​of the j-th indicator, respectively. This is the standardized data.

[0142] ③ Calculate information entropy

[0143] For the j-th indicator, the formula for calculating information entropy is:

[0144]

[0145] This method involves four positioning techniques, with n taking the value of 4. ,

[0146] ④ Calculate entropy weight

[0147]

[0148] This method involves three positioning metrics, with m taking the value of 3.

[0149] ⑤ Determine the weights of each positioning method

[0150] .

[0151] A high-precision composite positioning system for mining trucks, comprising:

[0152] Device A is installed on both sides of the mine car. A forward-looking prism A is provided on device A. The total station A and the forward-looking prism A work together to obtain the location information A of the mine car.

[0153] Device B is installed in the cab of the mining truck. A UWB tag B is set on device B, and the location information B of the mining truck is obtained through UWB base station B.

[0154] Device C is installed at the center of gravity of the mining truck, and an inertial navigation system C is installed on device C to obtain the position information C of the mining truck;

[0155] Device D, which is installed on the top of the mining truck operation room, is equipped with a satellite positioning receiver D to obtain the location information D of the mining truck;

[0156] The host computer collects the location information of devices A, B, C, and D, and processes it according to the high-precision composite positioning method for mining trucks based on total station, UWB, and inertial navigation satellite to obtain the final location information of the mining truck.

[0157] like Figure 5As 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 terminals 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 the display screen is installed in a remote control room outside the mining truck's operating area;

[0158] 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 connected to the microprocessor A201. The output of the power conversion module A206 is connected to the power supply of the microprocessor A201, and its input is connected to the lithium battery A207. The total station A203 in Device A is installed in a location with good visibility in the mining area. The front-view prism A204 in Device A is fixed to both sides of the mine car via a mounting bracket in Device A. The rear-view prism A205 in Device A is installed at three different heights in the mine.

[0159] 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 connected to the microprocessor B301. The output of the power conversion module B305 is connected to the power supply of the microprocessor B301, and its input is connected to the lithium battery B306. The UWB tag B303 in device B is fixed to the cab of the mining truck via a mounting bracket in device B. The UWB base station B304 in device B is installed at a high point with stable rock formations.

[0160] 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 connected to the microprocessor C401. The output of the power conversion module C404 is connected to the power supply terminal of the microprocessor C401, and its input terminal 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 a mounting bracket.

[0161] 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 connected to the microprocessor D501. The output of the power conversion module D504 is connected to the power supply terminal of the microprocessor D501, and its input terminal 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 via a mounting bracket.

[0162] 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. The wireless data transmission module 602 and the BeiDou positioning module 603 are connected to the microprocessor 601, respectively. The output terminal of the power conversion module 604 is connected to the power supply terminal of the BeiDou positioning module 603 and the power supply terminal of the microprocessor 601, and the input terminal is connected to the power supply 605. The base station is installed in a high place in an open environment without obstructions.

[0163] The central part of the front sight prism of the total station is a circular high-precision optical glass lens. The lens is surrounded by a protective frame structure. The frame is connected to the mounting bracket and has a rotation function. The mounting bracket has a mounting interface component below it, which makes it easy to securely install the front sight prism on both sides of the mining truck.

[0164] One side of the mounting bracket for device B typically features a light guide window to facilitate signal indication or light transmission from the tag. The bottom is equipped with a quick-release assembly, including a connecting plate, a movable pin, and a clip. Pushing the clip allows for quick removal of the tag body, facilitating charging, testing, or replacement and improving maintenance efficiency. The bracket's bottom has mounting screw holes, allowing for secure installation in the mining truck's cab using screws, ensuring stability during use.

[0165] The mounting bracket for device C is made of aluminum alloy or carbon fiber composite material, and integrates multi-stage vibration damping devices to effectively attenuate the interference of external vibrations on the inertial navigation sensor, ensuring measurement accuracy. The frame surface is equipped with a multi-directional adjustment mechanism, supporting horizontal calibration and attitude adjustment via precision lead screws or angle fine-tuning knobs, adapting to different mounting surfaces. The bottom of the bracket is equipped with a modular mounting interface, allowing the inertial navigation system to be installed at the center of gravity of the mining truck.

[0166] The mounting bracket for device D must meet the requirements for signal reception optimization and environmental adaptability. The main frame is made of lightweight aluminum alloy, possessing corrosion resistance and deformation resistance. The bracket integrates a three-stage shock absorption system (rubber vibration 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-dimensional adjustable gimbal, allowing for horizontal rotation, pitch adjustment, and fine-tuning of yaw, achieving sub-millimeter-level positioning calibration through a precision worm gear mechanism. A quick-install / quick-release interface is located at the bottom, allowing the satellite positioning receiver to be installed in the mining truck cab.

[0167] The mounting brackets for devices A, B, C, and D are fixed to the mounting surface by means of two-component acrylic structural adhesive, permanent magnet adsorption, or bolt connection.

[0168] The host processor utilizes a microkernel architecture ported from a real-time operating system (RTOS) to build a multi-task scheduling mechanism, enabling priority-based time-sharing task management. Within the hardware abstraction layer and the RTOS collaborative framework, 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 perform spatiotemporal synchronous fusion of total station positioning data, UWB positioning data, inertial navigation odometer data, and satellite positioning data, generating centimeter-level precision 3D spatial coordinates for the mining truck. Finally, an industrial-grade display screen is driven via HDMI / DP interfaces to dynamically display the mining truck's precise location, trajectory, and fusion error confidence interval in real time, providing intuitive spatial situational awareness for the unmanned mining truck system.

[0169] Example:

[0170] The host unit 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 cable. The host control keyboard is connected to the processor's GPIO. A DC regulated power supply is connected to the processor's power pins via a transformer. The host unit is located in a remote operating room outside the mining truck operating area. Device A's microprocessor A is connected to the total station A via a UART serial cable. The output of power conversion module A is connected to the power supplies of both the total station A and microprocessor A, while its input is connected to device A's lithium battery A. The wireless data transmission module A is connected to the microprocessor A via a UART serial cable. Device B's microprocessor B is connected to the UWB base station B via a UART serial cable. The output of power conversion module B is connected to the power supplies of both the UWB base station B and microprocessor B, while its input is connected to device B's lithium battery B. The wireless data transmission module B is connected to the microprocessor B via a UART serial cable. Device C's microprocessor C is connected to the inertial navigation system via a UART serial cable. The output of the power conversion module C is connected to the power supply of the microprocessor C, and its input is connected to the lithium battery C of device C. The wireless data transmission module C is connected to the microprocessor C via a UART serial cable. Device D's microprocessor D is connected to the satellite positioning receiver via a UART serial cable. The output of the power conversion module D is connected to the power supply of the microprocessor D, and its input is connected to the lithium battery D of device D. The wireless data transmission module D is connected to the microprocessor D via a UART serial cable. The host, device A, device B, device C, and device D share data through the wireless data transmission module. This unique layout significantly improves the accuracy of the mining truck's pose positioning and facilitates subsequent planning of the mining truck's operating route, effectively improving the mining truck's operating efficiency.

[0171] The total station uses the Topcon GPT-7000i series: it has high angle measurement accuracy, up to 1 second, and distance measurement accuracy of 3+2ppm×D in prism-free mode, with even higher accuracy when using prism measurements. It features long-distance measurement range, exceeding 3km when using a single prism, meeting the measurement needs of large areas in mines.

[0172] The front and rear sight prisms utilize the Sokkia SPMR1 single prism assembly. When used with a total station, they effectively reflect the laser beam emitted by the total station, improving measurement accuracy. They offer excellent reflection, a robust structure, and adaptability to varying installation and usage conditions arising from complex mine terrain, facilitating convenient installation on both sides of the mine car for positioning measurements.

[0173] The UWB tag uses the Decawave DWM1001 module: this tag offers high positioning accuracy, meeting the high-precision positioning requirements of mining trucks. It operates in the 3.5GHz-6.5GHz frequency band, has strong anti-interference capabilities, and can work stably in the complex electromagnetic environment of mines. It has a long communication distance, exceeding 100 meters, and low power consumption, making it suitable for long-term use in the cab of mining trucks.

[0174] The UWB base station uses the JWB02 UWB base station from Jingwei Technology: it supports multi-tag positioning and can simultaneously process a large amount of data from UWB tags, meeting the needs of simultaneous positioning of multiple mining trucks within the mining operation area. Its positioning accuracy can reach decimeter level, and its communication distance is long, reaching hundreds of meters in open environments. With proper deployment, it can effectively cover the mining operation area.

[0175] The inertial navigation system uses the Xsens MTi-G-710, which integrates a three-axis gyroscope, accelerometer, and magnetometer. It offers high positioning accuracy with minimal position drift over short periods, providing the mining truck with 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. Even under dynamic conditions such as high-speed travel or rapid acceleration and deceleration, it can stably output accurate data. Furthermore, its compact size and low power consumption make it easy to install at the center of gravity of the mining truck, and it can adapt to the complex vibration, impact, and temperature variations of the mining environment.

[0176] The satellite positioning receiver uses the Trimble R10 GNSS receiver, which supports multi-constellation and multi-band reception and can simultaneously track signals from satellite systems such as GPS, BeiDou, GLONASS, and Galileo, significantly improving positioning reliability and accuracy. In open environments, its static positioning accuracy reaches millimeter-level, and its dynamic positioning accuracy reaches sub-meter level, meeting the high-precision positioning requirements of mining trucks. This receiver possesses strong anti-interference capabilities, employing advanced filtering algorithms and hardware design to effectively resist electromagnetic interference in the mining environment, ensuring stable satellite signal reception even in complex conditions. Its built-in high-performance processor offers fast data processing speeds, enabling rapid calculation of the mining truck's three-dimensional coordinates.

[0177] The microprocessor uses the STM32F407 chip from the STM series as its core in the minimum system board.

[0178] The TPS7A4501 voltage regulator chip used stabilizes the lithium battery voltage at 5V, providing a stable operating voltage for the microprocessor and Beidou positioning module.

[0179] The microprocessor uses a 64-core Orange Pi 3B with a main frequency of 1.8GHz, and the control board uses the Orange Pi OS (Arch) operating system.

[0180] The display module is an ILI9488 3.5-inch color screen using SPI 4-wire mode, which can connect to the MCU via SPI interface to display color graphic information.

[0181] On a system based on the STM32F429IGT6 host chip, the application framework of the VxWorks real-time operating system is ported to implement different task scheduling. Based on the hardware drivers and the VxWorks real-time operating system, a graphics support system for embedded applications, Qt for Embedded Linux, is also ported. Qt for Embedded Linux provides an efficient and independent graphical user interface for any application using LCD graphics display, and is suitable for any size real or virtual display under any LCD controller and CPU. It is used to display the attitude and positioning information of the bucket of an unmanned loader robot, as well as the interactive interface.

[0182] The wireless data transmission module adopts a half-duplex 2.4GHz~2.5GHz nRF24L01+PA+LNA wireless communication module, which communicates with the embedded processor through SPI interface pins (including CSN chip select pin, SCK clock signal pin, MOSI communication output pin, and MISO communication input pin).

[0183] The BeiDou positioning module used in this invention employs the Hexin Xingtong 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 for preprocessing the received BeiDou positioning signal.

[0184] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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—total station, UWB tag, inertial navigation, and satellite positioning—the obtained mine card location coordinates are mine card location information A, mine card location information B, mine card location information C, and mine card location information D, respectively. S200: Determine the weight of the location information obtained by each positioning method; Step S200 includes: The work scenario can be categorized into the following four 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 to calculate the weight of each positioning method. 2) In close-range and multi-occluded scenarios, the fuzzy comprehensive evaluation method is adopted to determine the evaluation factor set of positioning accuracy, anti-occlusion capability, and signal stability. Fuzzy evaluation is performed on different positioning methods under each factor. The comprehensive weight of different positioning methods is calculated by combining the importance weight of each factor. 3) In scenarios where satellite signals are blocked, the reliability of each positioning method and the ideal positioning method is calculated based on the reliability analysis method. The higher the reliability, the greater the weight. Thus, the weight of each positioning method in this scenario is determined. 4) In long-distance, long-duration working scenarios, the entropy weight method is used to determine the weight of each positioning method based on the information entropy of each method on different indicators. The smaller the information entropy, the higher the importance of the positioning method in positioning and the greater the weight. S300: The final location information of the mining card is calculated based on the weights.

2. The high-precision composite positioning method for mining trucks based on total station, UWB, and inertial navigation satellite as described in claim 1, is characterized in that, The analytic hierarchy process includes: 1) Establish a hierarchical model: The target layer determines the weights of the positioning methods for mining cards in open areas with good visibility; the criteria layer includes positioning accuracy, stability, and coverage; the scheme 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 scheme layer; 3) Calculate the largest eigenvalue of the judgment matrix and its corresponding eigenvector, and normalize the eigenvector to obtain the weight vector of each positioning method under the corresponding index; 4) Calculate the combined weights: Set the weights for positioning accuracy, stability, and coverage as follows: , , The weights of the total station under these three indicators are as follows: , , Then the total station combination weight Based on this, the combined weights of UWB, inertial navigation, and satellite positioning are calculated, and the final weight allocation of different positioning methods in open areas with good visibility is determined.

3. The high-precision composite positioning method for mining trucks based on total station, UWB, and inertial navigation satellite as described in claim 1, is characterized in that... The fuzzy comprehensive evaluation method includes: 1) Determine the evaluation factor set: Select positioning accuracy, anti-interference 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) Construct a fuzzy relation matrix: Evaluate each positioning method under each evaluation factor, determine its membership degree to different evaluation levels, and construct a fuzzy relation matrix; 4) Determine the weight vectors of each factor: Use the analytic hierarchy process (AHP) to determine the importance weights of each evaluation factor; the weight vectors for positioning accuracy, anti-interference capability, and signal stability. ,and ; 5) Obtain the comprehensive evaluation vector by multiplying the fuzzy relation matrix and the factor weight vector.

4. The high-precision composite positioning method for mining trucks based on total station, UWB, and inertial navigation satellite as described in claim 1, characterized in that, The reliability analysis method includes: 1) Determine the analysis indicators: Positioning accuracy: Determine the positioning accuracy of total station, UWB, inertial navigation, and satellite positioning. 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 system is set to r3, where r3 is the positioning accuracy of the inertial navigation system. 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: .

5. The high-precision composite positioning method for mining trucks based on total station, UWB, and inertial navigation satellite as described in claim 1, characterized in that, The entropy weight method includes: 1) Data collection and indicator setting: Collect data on various positioning methods across different metrics, including positioning accuracy over time, coverage, and positioning continuity. This data needs to be evaluated based on the environment on the day of the test. Positioning accuracy changes over time: The positioning accuracy data of each positioning method at different time points during the mining truck's journey are recorded; Coverage: Determine the effective coverage of each positioning method along the mining truck's route; Positioning continuity: Evaluate 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; Standardize: in, It is the original data of the i-th positioning method on the j-th indicator. and These are the minimum and maximum values ​​of the j-th indicator, respectively. The data is standardized. 3) Calculate information entropy: For the j-th indicator, the formula for calculating information entropy is: The value of n is 4. , ; 4) Calculate the entropy weight: The value of m is 3; 5) Determine the weights of each positioning method: 。 6. A high-precision composite positioning system for mining trucks, characterized in that, include: Device A is installed on both sides of the mine car. A forward-looking prism A is provided on device A. The total station A and the forward-looking prism A work together to obtain the location information A of the mine car. Device B is installed in the cab of the mining truck. A UWB tag B is set on device B, and the location information B of the mining truck is obtained through UWB base station B. Device C is installed at the center of gravity of the mining truck, and an inertial navigation system C is installed on device C to obtain the position information C of the mining truck; Device D is installed on the top of the mining truck operation room. A satellite positioning receiver D is installed on device D to obtain the location information D of the mining truck. The satellite positioning receiver D is connected to a base station for communication. The host computer collects the location information of devices A, B, C and D, and processes it according to the high-precision composite positioning method for mining trucks based on total station, UWB and inertial navigation satellite as described in any one of claims 1-5 to obtain the final location information of the mining truck.

7. The high-precision composite positioning system for mining trucks according to claim 6, 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 output terminals of the display screen, the wireless data transmission module, the host control keyboard, and 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 the display screen is installed in a remote operating room outside the mining truck operation area.

8. The high-precision composite positioning system for mining trucks according to claim 6, 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 connected to the microprocessor A. The output of the power conversion module A is connected to the power supply of the microprocessor A, and its input is connected to the lithium battery A. The total station A is installed in a location with good visibility in the mining area. The front-view prism A is fixed to both sides of the mine car, and the rear-view prism A is installed at three 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; wherein 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 supply end of the microprocessor B, and the input end is connected to the lithium battery B; the UWB tag B is fixed in the cab of the mining truck, and the UWB base station B is installed at a high point with stable rock strata; 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 terminal of the power conversion module C is connected to the power supply terminal of the microprocessor C, and the input terminal 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 supply 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 operation room.

9. The high-precision composite positioning system for mining trucks according to claim 6, 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 supply end of the BeiDou positioning module and the power supply end of the microprocessor, and the input end is connected to the power supply; the base station is installed in a high place in an open environment without obstructions.

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