Method for determining and using underground coal mine distance solving model

Abstract

The invention relates to the technical field of communication, in particular to a method for determining and using an underground coal mine distance solving model. The method comprises the steps that magnetic field distribution information corresponding to a low-frequency signal transmitting source is acquired, and the magnetic field distribution information comprises near-field magnetic field distribution information and far-field magnetic field distribution information; acquiring a parameter set corresponding to the magnetic field distribution information; and according to the parameter set, a distance solving model corresponding to the magnetic field distribution information is constructed, and the distance solving model is used for determining a first distance between the low-frequency transmitting source and a positioning target according to magnetic field information corresponding to the positioning target. According to the invention, the accuracy of obtaining the distance solving model can be improved, and the accuracy of target positioning can be improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of coal mine communication, and particularly relates to a determination and use method of a coal mine underground distance solving model. BACKGROUND

[0002] The high-precision positioning and spatial distance solving technology in a coal mine is a core scientific problem for ensuring the safety of underground operation. In a complex underground tunnel environment, the traditional global navigation satellite system is completely ineffective due to electromagnetic wave shielding. Although the existing positioning schemes based on radio frequency identification (RFID), ultra wide band (UWB), Zigbee, and wireless fidelity (Wi-Fi) can achieve regional-level coverage, their ten-meter-level positioning errors cannot meet the safety monitoring needs of narrow and long tunnel spaces. Especially under non-line-of-sight propagation conditions, the signal distortion and attenuation caused by multipath effects will lead to systematic deviations in geometric ranging models based on parameters such as time difference of arrival, angle of arrival, and received signal strength indication.

[0003] Specifically, the special tubular topological structure of the underground tunnel causes electromagnetic wave propagation to exhibit significant waveguide effects, and reflection, scattering, and diffraction phenomena are coupled, resulting in non-Gaussian distribution characteristics of time delay estimation. When the distance between positioning base stations exceeds 50 meters, the channel impulse response time domain of UWB signals can be expanded by more than 20 ns, directly causing a ranging error accumulation of 3-5 meters. In disaster accident scenarios, electromagnetic wave propagation path mutations caused by tunnel deformation and base station equipment damage will completely disable the positioning system that relies on a continuous beacon network. SUMMARY

[0004] The present disclosure provides a determination and use method of a coal mine underground distance solving model, which can improve the accuracy of the distance solving model acquisition and improve the accuracy of target positioning. The technical solution of the present disclosure is as follows:

[0005] According to a first aspect of an embodiment of the present disclosure, a determination and use method of a coal mine underground distance solving model is provided, and the method comprises:

[0006] Obtaining magnetic field distribution information corresponding to a low-frequency signaling source, wherein the magnetic field distribution information includes near-field magnetic field distribution information and far-field magnetic field distribution information;

[0007] Obtaining a parameter set corresponding to the magnetic field distribution information;

[0008] construct a distance solving model corresponding to the magnetic field distribution information according to the parameter set, wherein the distance solving model is used to determine a first distance between the low-frequency signaling source and the positioning target according to magnetic field information corresponding to the positioning target.

[0009] According to some embodiments, the magnetic field distribution information corresponding to the low-frequency signaling source is obtained by:

[0010] obtaining a wave number corresponding to the low-frequency signaling source and a second distance between each position point in the space and the low-frequency signaling source;

[0011] determining the magnetic field distribution information corresponding to the low-frequency signaling source according to the wave number and the second distance.

[0012] According to some embodiments, the magnetic field distribution information corresponding to the low-frequency signaling source is obtained by:

[0013] obtaining frequency information and a third distance between each position point in the space and the low-frequency signaling source;

[0014] obtaining a distance threshold corresponding to the frequency information;

[0015] obtaining the magnetic field distribution information corresponding to the low-frequency signaling source according to the third distance between each position point and the low-frequency signaling source and the distance threshold.

[0016] According to some embodiments, the distance solving model corresponding to the magnetic field distribution information is constructed by:

[0017] obtaining polar coordinates of a target position in a polar coordinate system according to a fourth distance, a first included angle and a second included angle, wherein the fourth distance is a distance between the target position and the low-frequency signaling source in the space, the first included angle is an included angle between a line connecting the target position and the low-frequency signaling source and a first coordinate axis in a three-dimensional coordinate system of the space, a coordinate origin of the three-dimensional coordinate system is a position of the low-frequency signaling source, and the second included angle is an included angle between a projection of the line connecting the target position and the low-frequency signaling source on a first plane and a second coordinate axis;

[0018] constructing the distance solving model corresponding to the magnetic field distribution information according to a first magnetic induction intensity vector set corresponding to the polar coordinates and a second magnetic induction intensity vector set of the target position in a rectangular coordinate system.

[0019] According to some embodiments, when the second included angle is , the method further comprises:

[0020] obtaining magnetic field attenuation information corresponding to the low-frequency signaling source in a two-dimensional plane;

[0021] According to the magnetic field attenuation information and the magnetic induction intensity information measured at the low-frequency signaling source, a first magnetic induction intensity modulus corresponding to the target position is obtained;

[0022] A magnetic induction intensity measurement is performed at the target position using a fluxgate probe, and a second magnetic induction intensity modulus corresponding to the target position is obtained;

[0023] According to the first magnetic induction intensity modulus and the second magnetic induction intensity modulus, the distance solving model is constructed.

[0024] According to some embodiments, the method further comprises:

[0025] Obtaining environmental noise;

[0026] Adjusting the magnetic induction intensity modulus using the environmental noise to obtain an adjusted magnetic induction intensity modulus.

[0027] According to a second aspect of the embodiments of the present disclosure, a device for determining and using a coal mine underground distance solving model is provided, and the device comprises:

[0028] An information obtaining unit is configured to obtain magnetic field distribution information corresponding to a low-frequency signaling source, wherein the magnetic field distribution information comprises near-field magnetic field distribution information and far-field magnetic field distribution information;

[0029] A set obtaining unit is configured to obtain a parameter set corresponding to the magnetic field distribution information;

[0030] A model constructing unit is configured to construct a distance solving model corresponding to the magnetic field distribution information according to the parameter set, wherein the distance solving model is configured to determine a first distance between the low-frequency signaling source and a positioning target according to magnetic field information corresponding to the positioning target.

[0031] According to a third aspect of the embodiments of the present disclosure, an electronic device is provided, comprising:

[0032] A processor;

[0033] A memory for storing instructions executable by the processor;

[0034] The processor is configured to execute the instructions to implement the method for determining and using a coal mine underground distance solving model according to any one of the preceding aspects.

[0035] According to a fourth aspect of the embodiments of the present disclosure, a storage medium is provided, and when instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the method for determining and using a coal mine underground distance solving model according to any one of the preceding aspects.

[0036] According to a fifth aspect of the embodiments of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method according to any one of the preceding aspects.

[0037] The technical solutions provided by the embodiments of the present disclosure at least have the following beneficial effects:

[0038] In some or related embodiments, the magnetic field distribution information corresponding to the low-frequency signaling source is obtained, wherein the magnetic field distribution information includes near-field magnetic field distribution information and far-field magnetic field distribution information; a parameter set corresponding to the magnetic field distribution information is obtained; and a distance solving model corresponding to the magnetic field distribution information is constructed according to the parameter set, wherein the distance solving model is used to determine the first distance between the low-frequency signaling source and the positioning target according to the magnetic field information corresponding to the positioning target. Therefore, the distance solving model corresponding to the magnetic field distribution information can be constructed by using the parameter set corresponding to the magnetic field distribution information, which can reduce the situation that the same distance solving model is used for different magnetic field distribution information, so as to make the first distance determination inaccurate, reduce the influence of the magnetic field distribution attenuation in the magnetic field coverage range of the low-frequency signaling source on the distance determination, and reduce the situation that the electromagnetic wave propagation path is suddenly changed due to the deformation of the roadway in the disaster accident scene and the base station equipment is damaged, so that the positioning system relying on the continuous beacon network is completely disabled and cannot be positioned. Therefore, the accuracy of the distance solving model obtained is improved, and the accuracy and convenience of target positioning are improved.

[0039] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0040] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure, and do not constitute an improper limitation on the present disclosure.

[0041] Figure 1 is a flowchart of a first coal mine underground distance solving model determination and use method provided by the embodiments of the present disclosure;

[0042] Figure 2 is a flowchart of a second coal mine underground distance solving model determination and use method provided by the embodiments of the present disclosure;

[0043] Figure 3 is an example schematic diagram of a positioning range using signal strength (RSSI) according to an embodiment of the present disclosure;

[0044] Figure 4 is an example schematic diagram of a positioning range using time information according to an embodiment of the present disclosure;

[0045] Figure 5A An example schematic diagram of a permanent magnet rotation direction according to an embodiment of the present disclosure;

[0046] Figure 5B An example schematic diagram of a three-dimensional space positioning coordinate system according to an embodiment of the present disclosure;

[0047] Figure 6 An example schematic diagram of a two-dimensional space positioning coordinate system according to an embodiment of the present disclosure;

[0048] Figure 7 A block diagram of a determination and use device of a coal mine underground distance solving model according to an example embodiment;

[0049] Figure 8 A block diagram of an electronic device according to an example embodiment. DETAILED DESCRIPTION

[0050] In order to enable a person of ordinary skill in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings.

[0051] The embodiments of the present disclosure propose a determination and use method, device, electronic device and storage medium of a coal mine underground distance solving model. In some embodiments, the determination and use method of the coal mine underground distance solving model and the information processing method, communication method and other terms can be mutually replaced, the determination and use device of the coal mine underground distance solving model and the information processing device, communication device and other terms can be mutually replaced, and the information processing system, communication system and other terms can be mutually replaced.

[0052] The embodiments of the present disclosure are not exhaustive, but are only a schematic of some embodiments, and do not specifically limit the protection scope of the present disclosure. In the case of no contradiction, each step in an embodiment can be implemented as an independent embodiment, and the steps can be combined arbitrarily, for example, the scheme after removing some steps in an embodiment can also be implemented as an independent embodiment, and the order of the steps in an embodiment can be exchanged arbitrarily, in addition, the optional implementation manners in an embodiment can be combined arbitrarily; in addition, the embodiments can be combined arbitrarily, for example, the steps of different embodiments or part or all of the steps of different embodiments can be combined arbitrarily, an embodiment can be combined with the optional implementation manners of other embodiments arbitrarily.

[0053] In each embodiment of the present disclosure, the terms and / or descriptions of the embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form a new embodiment according to their inherent logical relationship.

[0054] The terms used in the embodiments of the present disclosure are merely used to describe specific embodiments, and are not intended to be limiting of the present disclosure.

[0055] In the embodiments of the present disclosure, unless otherwise specified, elements represented by singular forms, such as “one”, “an”, “the”, “said”, “above”, “the aforementioned”, “this”, etc., can represent “one and only one”, or “one or more”, “at least one”, etc. For example, in the case of using articles such as “a”, “an”, “the” in English, the noun after the article can be understood as a singular expression, or as a plural expression.

[0056] In the embodiments of the present disclosure, “plurality” means two or more.

[0057] In some embodiments, the terms “at least one of”, “one or more of”, “a plurality of”, “multiple”, etc. can be replaced with each other.

[0058] The prefix words “first”, “second”, etc. in the embodiments of the present disclosure are merely used to distinguish different description objects, and do not constitute a limitation on the position, order, priority, quantity or content of the description objects. The description of the description objects is referred to the description in the claims or embodiments, and should not be considered as a redundant limitation because of the use of the prefix words. For example, the description objects are “fields”, and the ordinal words before “fields” in “first field” and “second field” do not limit the position or order between “fields”, and “first” and “second” do not limit whether the “fields” modified thereby are in the same message or not, nor limit the order of “first field” and “second field”. For another example, the description objects are “levels”, and the ordinal words before “levels” in “first level” and “second level” do not limit the priority between “levels”. For another example, the quantity of the description objects is not limited by the ordinal words, and can be one or more. For example, “first device” is taken as an example, and the quantity of “devices” can be one or more. In addition, the objects modified by different prefix words can be the same or different, for example, the description objects are “devices”, and “first device” and “second device” can be the same device or different devices, and the types thereof can be the same or different. For another example, the description objects are “information”, and “first information” and “second information” can be the same information or different information, and the contents thereof can be the same or different.

[0059] In some embodiments, a "terminal" or "terminal device" can be referred to as a "user equipment" (UE), a "user terminal," a "mobile station" (MS), a "mobile terminal" (MT), a subscriber station, a mobile unit, a subscriber unit, a wireless unit, a remote unit, a mobile device, a wireless device, a wireless communication device, a remote device, a mobile subscriber station, an access terminal, a mobile terminal, a wireless terminal, a remote terminal, a handset, a user agent, a mobile client, a client, etc.

[0060] In some embodiments, data, information, etc. can be acquired after obtaining user consent.

[0061] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present disclosure and above-described accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The implementation described in the following exemplary embodiments does not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0062] Figure 1 is a flow chart of a first coal mine underground distance solving model determination and use method provided by an embodiment of the present disclosure, as shown in Figure 1 The coal mine underground distance solving model determination and use method can be used in the coal mine underground distance solving model determination and use scenario when a low-frequency signaling source is used to determine the positioning target position.

[0063] In step S11, magnetic field distribution information corresponding to the low-frequency signaling source is acquired, wherein the magnetic field distribution information includes near-field magnetic field distribution information and far-field magnetic field distribution information.

[0064] According to some embodiments, the execution subject of the embodiments of the present disclosure may, for example, be an electronic device. The electronic device is not particularly limited to a fixed device. For example, when the composition of the electronic device changes, the electronic device may also change accordingly. For example, when the identity of the electronic device changes, the electronic device may also change accordingly. The execution subject of the embodiments of the present disclosure may, for example, also be a server or a base station, and the embodiments of the present disclosure do not limit the execution subject. The server may, for example, be a server for executing the technical solutions of the embodiments of the present disclosure. The base station may, for example, be a base station for executing the technical solutions of the embodiments of the present disclosure.

[0065] In some embodiments, the low-frequency signaling source may, for example, be a signal source with a low frequency. The low-frequency signaling source may, for example, be referred to as a miniaturized low-frequency signaling source. The low-frequency signaling source may, for example, be a mechanical antenna. The mechanical antenna may, for example, be a device for transmitting radio signals, which is composed of one or more metal rods. The low-frequency signaling source is not particularly limited to a fixed device. For example, when the frequency corresponding to the low-frequency signaling source changes, the low-frequency signaling source may also change accordingly. For example, when the structure of the low-frequency signaling source changes, the low-frequency signaling source may also change accordingly.

[0066] In some embodiments, the magnetic field distribution information corresponding to the low-frequency signaling source may, for example, be information indicating the magnetic field distribution around the low-frequency signaling source. Specifically, the magnetic field distribution information corresponding to the low-frequency signaling source may, for example, be the distribution information of the magnetic field strength, or the magnetic induction strength, or the magnetic induction lines around the low-frequency signaling source. The magnetic field distribution information corresponding to the low-frequency signaling source is not particularly limited to a fixed information. For example, when the structure of the low-frequency signaling source changes, the magnetic field distribution information corresponding to the low-frequency signaling source may also change accordingly. The magnetic field distribution information corresponding to the low-frequency signaling source includes near-field magnetic field distribution information and far-field magnetic field distribution information.

[0067] In some embodiments, the magnetic field distribution information may, for example, be information indicating the magnetic field distribution, or the magnetic induction strength distribution information, or the magnetic induction line distribution information.

[0068] In some embodiments, the magnetic field distribution information corresponding to the low-frequency signaling source may, for example, be information indicating the magnetic field distribution around the low-frequency signaling source. Specifically, the magnetic field distribution information corresponding to the low-frequency signaling source may, for example, be the distribution information of the magnetic field strength, or the magnetic induction strength, or the magnetic induction lines around the low-frequency signaling source. The magnetic field distribution information corresponding to the low-frequency signaling source is not particularly limited to a fixed information. For example, when the structure of the low-frequency signaling source changes, the magnetic field distribution information corresponding to the low-frequency signaling source may also change accordingly. The magnetic field distribution information corresponding to the low-frequency signaling source includes near-field magnetic field distribution information and far-field magnetic field distribution information.

[0069] In step S12, a parameter set corresponding to the magnetic field distribution information is acquired.

[0070] According to some embodiments, the parameter set may, for example, be a collective formed by at least one parameter. The at least one parameter included in the parameter set may, for example, correspond to the magnetic field distribution information. Different magnetic field distribution information may, for example, correspond to different parameter sets. The parameter set may, for example, not be a fixed set. For example, when the number of parameters included in the parameter set changes, the parameter set may, for example, also change accordingly. For example, when a parameter included in the parameter set changes, the parameter set may, for example, also change accordingly.

[0071] Different magnetic field distribution information may, for example, correspond to different parameter sets, for example, different numbers of parameters, for example, different types of parameters, or different parameter values.

[0072] In some embodiments, a parameter set corresponding to the magnetic field distribution information may, for example, be obtained.

[0073] In step S13, a distance solving model corresponding to the magnetic field distribution information is constructed according to the parameter set. The distance solving model may, for example, be used to determine the first distance between the low-frequency signaling source and the positioning target according to the magnetic field information corresponding to the positioning target.

[0074] In some embodiments, the distance solving model may, for example, be a model that identifies the obtained magnetic field information to obtain distance information. Different magnetic field distribution information may, for example, correspond to different distance solving models. The constructed distance solving model may, for example, be a model that has been constructed and can be used to determine the distance between the low-frequency signaling source and the positioning target. The distance solving model may, for example, not be a fixed model. For example, when the construction method of the distance solving model changes, the distance solving model may, for example, also change accordingly. For example, when the model parameters of the distance solving model change, the distance solving model may, for example, also change accordingly.

[0075] According to some embodiments, the positioning target may, for example, be a target whose position information is to be determined. The positioning target may, for example, not be a fixed target. The positioning target may, for example, be a fixed target or a mobile target. The positioning target may, for example, also be a user or a terminal of a user.

[0076] In some embodiments, the magnetic field information may, for example, be used to represent the magnetic field information of the current position of the positioning target. The magnetic field information may, for example, not be a fixed information. The magnetic field information may, for example, include but not limited to magnetic field strength, magnetic induction strength, etc. For example, when the type of information included in the magnetic field information changes, the magnetic field information may, for example, also change accordingly. For example, when the values corresponding to the specific information included in the magnetic field information change, the magnetic field information may, for example, also change accordingly.

[0077] According to some embodiments, the first distance may, for example, be a distance between the low-frequency signaling source and the positioning target when the current positioning mode is performed. Among them, the first in the first distance is used to distinguish from the rest of the distance, and does not refer to a fixed distance. For example, when the distance solving model changes or the positioning target changes, the first distance may also change accordingly.

[0078] In some embodiments, a distance solving model corresponding to the magnetic field distribution information is constructed according to the parameter set, wherein the distance solving model is used to determine the first distance between the low-frequency signaling source and the positioning target according to the magnetic field information corresponding to the positioning target.

[0079] In some or related embodiments, the magnetic field distribution information corresponding to the low-frequency signaling source is obtained, wherein the magnetic field distribution information includes near-field magnetic field distribution information and far-field magnetic field distribution information; a parameter set corresponding to the magnetic field distribution information is obtained; and a distance solving model corresponding to the magnetic field distribution information is constructed according to the parameter set, wherein the distance solving model is used to determine the first distance between the low-frequency signaling source and the positioning target according to the magnetic field information corresponding to the positioning target. Therefore, the distance solving model corresponding to the magnetic field distribution information can be constructed by the parameter set corresponding to the magnetic field distribution information, which can reduce the situation that the same distance solving model is used for different magnetic field distribution information, so that the first distance is not accurately determined, reduce the influence of the magnetic field distribution attenuation in the magnetic field coverage range of the low-frequency signaling source on the distance determination, and can reduce the situation that the electromagnetic wave propagation path is suddenly changed due to the deformation of the roadway in the disaster accident scene and the base station equipment is damaged, which will make the positioning system relying on the continuous beacon network completely invalid and unable to be positioned. The accuracy of the distance solving model obtained is improved, and the accuracy and convenience of target positioning are improved.

[0080] Figure 2 is a flowchart of a second method for determining and using a coal mine underground distance solving model provided by the embodiments of the present disclosure, as shown in Figure 2 The method for determining and using the coal mine underground distance solving model can be used in the determination and use of the coal mine underground distance solving model when the low-frequency signaling source is used to determine the position of the positioning target, and includes the following steps:

[0081] In step S21, the magnetic field distribution information corresponding to the low-frequency signaling source is obtained, wherein the magnetic field distribution information includes near-field magnetic field distribution information and far-field magnetic field distribution information.

[0082] The related descriptions are as described above, and will not be repeated here.

[0083] According to some embodiments, the low-frequency signaling source may, for example, be a mechanical antenna. The mechanical antenna can be divided into vibration type and rotation type, stationary type and permanent magnet type according to the mechanical motion form and material characteristics. The embodiments of the present disclosure may, for example, take a rotating mechanical antenna as an example for illustration.

[0084] According to some embodiments, the near-field magnetic field distribution decay model may, for example, be as shown in equation (1):

[0085]

[0086] where B is the magnetic induction intensity, μ0=4π×10 -7 N·A -2 is the magnetic permeability in vacuum, m0 is the magnetic dipole moment, is the wave number, r is the straight-line distance of a point in space from the origin, θ is the angle between the straight-line distance and the z-axis in the three-dimensional coordinate system of space, is the angle between the projection of the straight-line distance in the oxy plane and the x-axis, is the three mutually orthogonal direction vectors, is the direction along the direction of r, is the distance of a point in space to the z-axis as a circle, where the tangent direction of the circle is the direction of is the direction of .

[0087] where, since the magnetic field distribution of the near field is in the form of an inwardly concave circular pie, the direction of the minimum field strength is the rotation axis direction, and the direction of the maximum field strength is any direction on the rotation plane passing through the origin o.

[0088] According to some embodiments, the far-field magnetic field distribution decay model may, for example, be equation (2):

[0089]

[0090] where the magnetic field distribution of the far field is in the form of an ellipsoid, the direction of the maximum field strength is the rotation axis direction, and the magnetic induction intensity is equal in any equidistant direction on the rotation plane passing through the origin o.

[0091] According to some embodiments, the method for obtaining the magnetic field distribution information corresponding to the low-frequency signaling source comprises:

[0092] obtaining the wave number corresponding to the low-frequency signaling source and obtaining the second distance between each position point in space and the low-frequency signaling source;

[0093] determining the magnetic field distribution information corresponding to the low-frequency signaling source according to the wave number and the second distance. Therefore, the magnetic field distribution information can be determined according to the wave beam and the second distance, which can improve the accuracy of the determination of the magnetic field distribution information, improve the accuracy of the distance information determination, and improve the accuracy of the position information determination of the positioning target.

[0094] According to some embodiments, the second distance refers to the distance between each position point in the space and the low-frequency signaling source. The second distance is not a fixed distance. For example, when the position point in the space changes, the second distance can also change accordingly. For example, when the wave number changes, the second distance can also change accordingly.

[0095] According to some embodiments, the magnetic field distribution information corresponding to the low-frequency signaling source is obtained by:

[0096] Obtaining frequency information and a third distance between each position point in the space and the low-frequency signaling source;

[0097] Obtaining a distance threshold corresponding to the frequency information;

[0098] According to the third distance between each position point and the low-frequency signaling source and the distance threshold, the magnetic field distribution information corresponding to the low-frequency signaling source is obtained. Therefore, the magnetic field distribution information can be determined according to the beam and the second distance, which can improve the accuracy of the magnetic field distribution information determination, improve the accuracy of the distance information determination, and improve the accuracy of the position information determination of the positioning target.

[0099] In some embodiments, the magnetic field distribution information can be determined by the product of the wave number γ and the second distance r, for example, when γr<<1, it is a near field, and when γr>>1, it is a far field.

[0100] According to some embodiments, when the magnetic field distribution information is the magnetic induction intensity distribution information, the distribution of the magnetic induction intensity can be, for example, as shown in formula (3):

[0101]

[0102] When γr<<1, formula (3) can be simplified as formula (1), and when γr>>1, formula (3) can be simplified as formula (2).

[0103] According to some embodiments, Figure 3 An example schematic diagram for positioning range using signal strength (RSSI) is shown, as shown in Figure 3 The radiation power of the antenna in the near field is 0, and the RSSI signal strength positioning depends on the measurement of the transmission signal power of the antenna. In the near field, RSSI signal strength cannot be used for positioning, as shown in Figure 3 r1 is the minimum range that can be divided into the far field, r2 is the maximum range that the radio signal can be accepted and measured, and the black area is the area where the positioning function can be realized. The positioning range can be determined by Figure 3 It can be seen that the positioning area of the positioning using signal strength presents a circular ring shape. When RSSI signal strength is used for positioning, the positioning range can be determined.

[0104] According to some embodiments, the TOA and TDOA methods using time information are not affected by the above conditions, the measurement of time is only related to the medium in space and the propagation path of electromagnetic waves, and is irrelevant to the radiation power, so positioning can be performed in the near field and the far field. The positioning range using time information is shown in FIG. 2, and the positioning using time information can achieve full-range positioning under the premise of signal recognition. r2 is the maximum range in which the radio signal can be measured. Figure 4

[0105] According to the division of the near field and the far field, in the near field, the information used in the electric signal of the radio wave signal during positioning is time; in the far field, the information used during positioning is time and signal strength.

[0106] In some embodiments, since the wave number is determined by the frequency and the propagation speed of electromagnetic waves in the medium, the division of the near field and the far field in air is also affected by the frequency. When the frequency is 1 KHz, the third distance is the near field, and the third distance is the far field. When the frequency is less than 100 Hz, the range that can be positioned is almost the near field, and when the frequency is greater than 10 MHz, the range that can be positioned is almost the far field.

[0107] In step S22, a parameter set corresponding to the magnetic field distribution information is obtained.

[0108] The related descriptions are as described above, and will not be repeated here.

[0109] According to some embodiments, the parameter set may, for example, include a fourth distance, a first included angle and a second included angle, polar coordinates, etc.

[0110] In step S23, polar coordinates of the target position in a polar coordinate system are obtained according to the fourth distance, the first included angle and the second included angle. The fourth distance is the distance between the target position and the low-frequency signaling source in space, the first included angle is the included angle between the line connecting the target position and the low-frequency signaling source and the first coordinate axis in a three-dimensional coordinate system of space, the coordinate origin of the three-dimensional coordinate system is the position of the low-frequency signaling source, and the second included angle is the included angle between the projection of the line connecting the target position and the low-frequency signaling source on the first plane and the second coordinate axis.

[0111] The related descriptions are as described above, and will not be repeated here.

[0112] ​In step S24, a distance solving model corresponding to the magnetic field distribution information is constructed according to the first magnetic induction intensity vector set corresponding to the polar coordinates and the second magnetic induction intensity vector set of the target position in the rectangular coordinate system, wherein the distance solving model is used to determine the first distance between the low-frequency signaling source and the positioning target according to the magnetic field information corresponding to the positioning target.

[0113] The related descriptions are as described above, and will not be repeated here.

[0114] According to some embodiments, when the second included angle is , the method further comprises:

[0115] Obtaining magnetic field attenuation information corresponding to the low-frequency signaling source in a two-dimensional plane;

[0116] According to the magnetic field attenuation information and the magnetic induction intensity information measured at the low-frequency signaling source, obtaining a first magnetic induction intensity modulus value corresponding to the target position;

[0117] Measuring the magnetic induction intensity at the target position by using the fluxgate magnetometer to obtain a second magnetic induction intensity modulus value corresponding to the target position;

[0118] According to the first magnetic induction intensity modulus value and the second magnetic induction intensity modulus value, constructing a distance solving model.

[0119] According to some embodiments, the method further comprises:

[0120] Obtaining environmental noise;

[0121] Adjusting the magnetic induction intensity modulus value by using the environmental noise to obtain an adjusted magnetic induction intensity modulus value.

[0122] In some embodiments, in the determination and use of the distance solving model under the near-field condition in the coal mine, Figure 5A is an example schematic diagram of the rotation direction of a permanent magnet of an embodiment of the present disclosure, Figure 5B is an example schematic diagram of a three-dimensional space positioning coordinate system of an embodiment of the present disclosure, as Figure 5B shown, o1x1y1z1 is a coordinate system with the signaling source as the origin, and o2x2y2z2 is a coordinate system with the measurement base station as the origin. In the polar coordinate system, according to the magnetic field formula (1) of the low-frequency signaling source in the three-dimensional plane under the near-field condition, the three-direction magnetic induction intensity vectors (B r1 , B θ1 , B φ1 ) of the polar coordinate system can be derived by using the coordinate system transformation method to obtain the three-direction magnetic induction intensity vectors (B x1 , B y1 , B z1 ​​), to obtain formula (4):

[0123]

[0124] wherein μ0=4π×10 -7 N·A -2 is the magnetic permeability in vacuum, m0is the magnetic dipole moment, r is the straight line distance from a point in space to the origin, θ is the included angle between the straight line distance and the z axis in the three-dimensional coordinate system in space, φ is the included angle between the projection of the straight line distance in the oxy plane and the x axis, is three mutually orthogonal direction vectors, is the direction along the direction of r, is the distance from a point in space to the z axis to make a circle, wherein the tangent direction of the circle is the direction of r, and the direction of r is defined according to the right-hand rule along the z axis, is the direction of .

[0125] In some embodiments, Figure 6 is an example schematic diagram of a two-dimensional spatial positioning coordinate system of the embodiments of the present disclosure, as shown in Figure 6 y1o1z1 is a coordinate system with the signal source as the origin, and y2o2z2 is a coordinate system with the measurement base station as the origin. The magnetic field formula of the signal source in the two-dimensional plane is:

[0126]

[0127] Since the magnetic induction intensity of the dynamic magnetic field is measured by the fluxgate, the effective value is obtained, and the following formula can be obtained:

[0128]

[0129] The magnetic induction intensity module |B j | can be calculated from formula (6):

[0130]

[0131] The magnetic induction intensity module |B j | measured by the fluxgate at a point in space can be obtained from formula (7):

[0132]

[0133] Then, the position of the rotating permanent magnet mechanical antenna as the signal source can be calculated by using the mathematical relationship of the position coordinates and distance information of the multiple fluxgate probe heads.

[0134] According to some embodiments, the environmental noise in a complex environment can be simulated by adding noise satisfying the normal distribution.

[0135]

[0136] Where ν B1 ~N(0,σ B1 The standard deviation is σ B1 It follows a normal distribution.

[0137] According to some embodiments, in determining and using the coal mine underground distance solution model under far-field conditions, the three-dimensional spatial formula can be organized first. Using coordinate system transformation, according to formula (2), from the polar coordinate system... The magnetic induction vectors in the three directions (B) r2 B θ2 B φ2 It is derived that the rectangular coordinate system is... The magnetic induction vectors in the three directions (B) x2 B y2 B z2 ), thus obtaining formula (10):

[0138]

[0139] Where μ0 = 4π × 10 -7 N·A -2 Let m be the permeability in vacuum, and m0 be the magnetic dipole moment. Let f be the wavenumber, r be the linear distance between a point in space and the origin, θ be the angle between this linear distance and the z-axis in the three-dimensional coordinate system, and φ be the angle between the projection of this linear distance onto the oxy-plane and the x-axis. These are three mutually orthogonal direction vectors. The direction is along the direction of r. Draw a circle representing the distance from a point in space to the z-axis, where the direction of the tangent to the circle is defined by the right-hand rule along the z-axis. Direction is The direction.

[0140] Pick This is the plane with the greatest magnetic induction intensity. The formula for the magnetic field of the transmitting source of a rotating permanent magnet mechanical antenna in a two-dimensional plane is:

[0141]

[0142] Since the magnetic flux density of a dynamic magnetic field measured using a fluxgate magnetometer is the effective value, the following formula can be obtained:

[0143]

[0144] The magnetic flux density |B| can be calculated using formula (12). j |:

[0145]

[0146] The magnetic induction intensity modulus at a point in space measured by the fluxgate meter can be obtained from equation (13):

[0147]

[0148] Then, the position of the rotating permanent magnet mechanical antenna as the signal source can be calculated by the position coordinates and distance information of the plurality of fluxgate meter probes.

[0149] According to some embodiments, the environmental noise in a complex environment can be simulated by adding noise satisfying a normal distribution.

[0150]

[0151] wherein v B2 ~ N(0, σ B2 ) is a normal distribution with a standard deviation of σ B2 .

[0152] In one or more embodiments, polar coordinates of the target position in a polar coordinate system are obtained according to the fourth distance, the first included angle, and the second included angle, wherein the fourth distance is a distance between the target position and the low-frequency signal source in space, the first included angle is an included angle between a line connecting the target position and the low-frequency signal source and a first coordinate axis in a three-dimensional coordinate system, a coordinate origin of the three-dimensional coordinate system is a position of the low-frequency signal source, and the second included angle is an included angle between a projection of the line connecting the target position and the low-frequency signal source on the first plane and a second coordinate axis; a distance solving model corresponding to the magnetic field distribution information is constructed according to the first magnetic induction intensity vector set corresponding to the polar coordinates and a second magnetic induction intensity vector set of the target position in a rectangular coordinate system, wherein the distance solving model is used to determine the first distance between the low-frequency signal source and the positioning target according to the magnetic field information corresponding to the positioning target, so that the distance solving model can be determined according to the distance, the included angle, and the polar coordinates, the accuracy of the distance solving model is improved, and the accuracy of the positioning information is improved.

[0153] A device block diagram for determining and using a coal mine underground distance solving model is shown according to an example embodiment. Referring to Figure 7 The device 700 includes:

[0154] An information acquisition unit 701 is configured to acquire magnetic field distribution information corresponding to a low-frequency signal source, wherein the magnetic field distribution information includes near-field magnetic field distribution information and far-field magnetic field distribution information;

[0155] A set acquisition unit 702 is configured to acquire a parameter set corresponding to the magnetic field distribution information.

[0156] The model construction unit 703 is configured to construct a distance solving model corresponding to the magnetic field distribution information according to the parameter set, where the distance solving model is used to determine the first distance between the low-frequency signaling source and the positioning target according to the magnetic field information corresponding to the positioning target.

[0157] According to some embodiments, when the information acquisition unit 701 acquires the magnetic field distribution information corresponding to the low-frequency signaling source, specifically:

[0158] acquire the wave number corresponding to the low-frequency signaling source and acquire the second distance between each position point in the space and the low-frequency signaling source;

[0159] determine the magnetic field distribution information corresponding to the low-frequency signaling source according to the wave number and the second distance.

[0160] According to some embodiments, the magnetic field distribution information corresponding to the low-frequency signaling source is acquired by:

[0161] acquiring the frequency information and acquiring the third distance between each position point in the space and the low-frequency signaling source;

[0162] acquire the distance threshold corresponding to the frequency information;

[0163] acquire the magnetic field distribution information corresponding to the low-frequency signaling source according to the third distance between each position point and the low-frequency signaling source and the distance threshold.

[0164] According to some embodiments, the model construction unit 703 is configured to construct a distance solving model corresponding to the magnetic field distribution information according to the parameter set, including:

[0165] acquire the polar coordinates of the target position in the polar coordinate system according to the fourth distance, the first included angle and the second included angle, where the fourth distance is the distance between the target position and the low-frequency signaling source in the space, the first included angle is the included angle between the line connecting the target position and the low-frequency signaling source and the first coordinate axis in the three-dimensional coordinate system of the space, the coordinate origin of the three-dimensional coordinate system is the position of the low-frequency signaling source, and the second included angle is the included angle between the projection of the line connecting the target position and the low-frequency signaling source on the first plane and the second coordinate axis;

[0166] construct the distance solving model corresponding to the magnetic field distribution information according to the first magnetic induction intensity vector set corresponding to the polar coordinates and the second magnetic induction intensity vector set of the target position in the rectangular coordinate system.

[0167] According to some embodiments, when the second included angle is , the model construction unit 703 is further configured to:

[0168] acquire the magnetic field attenuation information corresponding to the low-frequency signaling source in the two-dimensional plane;

[0169] According to the magnetic field attenuation information and the magnetic induction intensity information measured at the low-frequency signaling source, a first magnetic induction intensity modulus corresponding to the target position is obtained;

[0170] The magnetic induction intensity at the target position is measured by using the fluxgate meter, and a second magnetic induction intensity modulus corresponding to the target position is obtained;

[0171] According to the first magnetic induction intensity modulus and the second magnetic induction intensity modulus, a distance solving model is constructed.

[0172] According to some embodiments, the model construction unit 703 is further configured to:

[0173] Obtain environmental noise;

[0174] Adjust the magnetic induction intensity modulus by using the environmental noise to obtain an adjusted magnetic induction intensity modulus.

[0175] As to the apparatus in the above embodiments, the specific manners in which various modules perform operations have been described in detail in the embodiments related to the method, and thus will not be described in detail here.

[0176] In some or related embodiments, by means of an information obtaining unit, magnetic field distribution information corresponding to the low-frequency signaling source is obtained, wherein the magnetic field distribution information includes near-field magnetic field distribution information and far-field magnetic field distribution information; a set obtaining unit is configured to obtain a parameter set corresponding to the magnetic field distribution information; and a model construction unit is configured to construct a distance solving model corresponding to the magnetic field distribution information according to the parameter set, wherein the distance solving model is used to determine a first distance between the low-frequency signaling source and a positioning target according to magnetic field information corresponding to the positioning target. Therefore, the distance solving model corresponding to the magnetic field distribution information can be constructed by means of the parameter set corresponding to the magnetic field distribution information, which reduces the situation that the same distance solving model is used for different magnetic field distribution information, making the first distance determination inaccurate, reduces the influence of the magnetic field distribution attenuation in the magnetic field coverage range of the low-frequency signaling source on the distance determination, and reduces the situation that the electromagnetic wave propagation path is suddenly changed due to the deformation of the roadway in the disaster accident scene and the base station equipment is damaged, which will make the positioning system relying on the continuous beacon network completely invalid and unable to be positioned, thereby improving the accuracy of the distance solving model and the accuracy and convenience of target positioning.

[0177] Figure 8A schematic block diagram of an example electronic device 800 that can be used to implement embodiments of the present disclosure is shown. The electronic device 800 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0178] like Figure 8 As shown, the electronic device 800 includes a computing unit 801, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. The RAM 803 may also store various programs and data required for the operation of the electronic device 800. The computing unit 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0179] Multiple components in electronic device 800 are connected to I / O interface 805, including: input unit 806, such as keyboard, mouse, etc.; output unit 807, such as various types of displays, speakers, etc.; storage unit 808, such as disk, optical disk, etc.; and communication unit 809, such as network card, modem, wireless transceiver, etc. Communication unit 809 allows electronic device 800 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0180] The computing unit 801 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, and the like. The computing unit 801 performs various methods and processes described above. For example, in some embodiments, the above-described methods can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded onto the RAM 803 and executed by the computing unit 801, one or more steps of the above-described methods described above can be performed. Alternatively, in other embodiments, the computing unit 801 can be configured to perform the above-described methods by any other suitable means, such as by means of firmware.

[0181] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0182] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or the block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0183] In the context of this disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0184] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0185] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain network.

[0186] The computer system can include clients and servers. This relationship can be. remote, where each server is stored on a remote computer from a client. The clients and the servers can be connected through a communication network. The relationship can be a client-server relationship over a network. Servers can be cloud servers, also known as cloud computing servers or cloud hosts, which are a host product in the cloud computing service system. The servers can be servers of a distributed system or servers combined with a blockchain.

[0187] It should be understood that the various forms of flow shown above can be reordered, steps added or removed. For example, the steps described in the present disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, which are not limited herein.

[0188] The above detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for determining and using a distance calculation model in coal mines, characterized in that, The method includes: Obtain magnetic field distribution information corresponding to a low-frequency signal source, wherein the magnetic field distribution information includes near-field magnetic field distribution information and far-field magnetic field distribution information; Obtain the parameter set corresponding to the magnetic field distribution information; A distance calculation model corresponding to the magnetic field distribution information is constructed based on the parameter set, wherein the distance calculation model is used to determine the first distance between the low-frequency signal source and the positioning target based on the magnetic field information corresponding to the positioning target.

2. The method according to claim 1, characterized in that, The acquisition of the magnetic field distribution information corresponding to the low-frequency transmitter includes: Obtain the wavenumber corresponding to the low-frequency transmitter and obtain the second distance between each location point in space and the low-frequency transmitter; The magnetic field distribution information corresponding to the low-frequency transmitter is determined based on the wave number and the second distance.

3. The method according to claim 1, characterized in that, The acquisition of the magnetic field distribution information corresponding to the low-frequency transmitter includes: Acquire frequency information and acquire the third distance between each location point in space and the low-frequency transmission source; Obtain the distance threshold corresponding to the frequency information; Based on the third distance between each location point and the low-frequency signal source and the distance threshold, the magnetic field distribution information corresponding to the low-frequency signal source is obtained.

4. The method according to claim 1, characterized in that, The step of constructing a distance calculation model corresponding to the magnetic field distribution information based on the parameter set includes: Based on the fourth distance, the first included angle, and the second included angle, the polar coordinates of the target position in the polar coordinate system are obtained. The fourth distance is the distance between the target position and the low-frequency signal source in space. The first included angle is the angle between the line connecting the target position and the low-frequency signal source and the first coordinate axis in the three-dimensional coordinate system of space. The origin of the three-dimensional coordinate system is the location of the low-frequency signal source. The second included angle is the angle between the projection of the line connecting the target position and the low-frequency signal source on the first plane and the second coordinate axis. Based on the first set of magnetic induction intensity vectors corresponding to the polar coordinates and the second set of magnetic induction intensity vectors of the target position in the rectangular coordinate system, a distance solution model corresponding to the magnetic field distribution information is constructed.

5. The method according to claim 4, characterized in that, At the second included angle is The method further includes: Obtain the magnetic field attenuation information of the low-frequency transmitter in a two-dimensional plane; Based on the magnetic field attenuation information and the magnetic flux density information measured at the low-frequency transmitter, the first magnetic flux density modulus value corresponding to the target position is obtained. The magnetic flux density at the target location is measured using a fluxgate magnetometer to obtain the second magnetic flux density modulus corresponding to the target location. The distance calculation model is constructed based on the first magnetic flux density magnitude and the second magnetic flux density magnitude.

6. The method according to claim 5, characterized in that, The method further includes: Acquire environmental noise; The magnetic flux density modulus is adjusted using the ambient noise to obtain the adjusted magnetic flux density modulus.

7. A device for determining and using a coal mine underground distance solution model, characterized in that, include: An information acquisition unit is used to acquire magnetic field distribution information corresponding to a low-frequency signal source, wherein the magnetic field distribution information includes near-field magnetic field distribution information and far-field magnetic field distribution information; A set acquisition unit is used to acquire a set of parameters corresponding to the magnetic field distribution information; The model building unit is used to build a distance solution model corresponding to the magnetic field distribution information based on the parameter set, wherein the distance solution model is used to determine the first distance between the low-frequency signal source and the positioning target based on the magnetic field information corresponding to the positioning target.

8. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method for determining and using the coal mine underground distance solution model as described in any one of claims 1 to 6.

9. A storage medium storing instructions, characterized in that, When the instructions are executed on the electronic device, the electronic device performs the method for determining and using the coal mine underground distance solution model as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the method for determining and using the coal mine underground distance solution model according to any one of claims 1 to 6.

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