UWB positioning network dynamic expansion and migration method and system, medium and product

Abstract

The invention provides a UWB positioning network dynamic expansion and migration method and system, a medium and a product. The UWB positioning system comprises a wired UWB positioning base station with a fixed position and a wireless UWB positioning base station with an adjustable position, and each position for deploying the wireless UWB positioning base station is provided with an anchor point identification device. And the target UWB positioning base station obtains the anchor point identifier of the corresponding anchor point identification device and sends the base station identifier of the target UWB positioning base station and the corresponding anchor point identifier to the wired UWB positioning base station based on a first set time slot in the positioning period. Thus, by introducing the wireless UWB positioning base station, and based on the base station identifier and the corresponding anchor point identifier, the current installation position of the wireless UWB positioning base station can be automatically identified, thereby realizing dynamic expansion or migration of the UWB positioning system, and better meeting the requirements of positioning timeliness and convenience of an underground mining scene of a mine.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of wireless communication network positioning technology, and particularly relates to a UWB positioning network dynamic expansion and migration method, system, medium and product. BACKGROUND

[0002] There are a large number of equipment, vehicles and personnel in the underground mine, and the underground mining has certain danger. Effective organization and management of underground personnel and vehicles, and rescue of accidents and disasters all need to master the accurate position data of underground personnel, vehicles and equipment, and the remote control and intelligent control of underground equipment cannot be separated from the real-time accurate position data of underground equipment. Precise positioning technology has become an important technical support for mine safety production, and UWB positioning technology is often used for underground precise positioning. UWB positioning base stations are arranged at intervals in the underground mine, personnel, vehicles or equipment carry UWB positioning tags, and the distance between the UWB positioning base station and the UWB positioning tag is accurately calculated by measuring the time of flight of the pulse signal. The coordinates of the UWB positioning base station are known, and the coordinates of the UWB positioning tag can be accurately calculated according to the accurate distance between the UWB positioning tag and multiple UWB positioning base stations.

[0003] However, the mining scene in the underground mine has the characteristics of dynamic change and mining disturbance. The dynamic nature of the mining environment is reflected in the need for continuous forward tunneling, so as to mine the deep ore body, and also in the adjustment of the operation range according to the mining plan and schedule. Time period A operates in space range 1, time period B adjusts to space range 2, and time period C may adjust back to space range 1. The disturbance of the mining environment is reflected in the fact that the mining mainly adopts the form of explosive blasting, which has strong destructive effect on the equipment within a certain range of the blasting position.

[0004] Due to the dynamic change and mining disturbance of the mining scene in the underground mine, the UWB positioning system has the ability of dynamic expansion and migration, which becomes one of the core demands of underground precise positioning. The existing UWB positioning technology usually needs to install UWB positioning base stations at fixed positions, accurately measure the position coordinates of the UWB positioning base stations by underground measurement means, and configure the position coordinates of the UWB positioning base stations in the UWB positioning system before starting the precise positioning of the UWB positioning tag. Each UWB positioning base station communicates with the server of the host computer through optical fiber ring network or RS-485 connection, and uploads the ranging information to the server.

[0005] For example: Chinese patent application 202211188360 discloses a kind of underground UWB positioning method, system and storage medium based on mobile base station.The method includes: UWB positioning label and mobile UWB positioning base station broadcast first data message based on the positioning frequency set;UWB positioning base station received first data message, broadcast second data message;UWB positioning label and UWB positioning base station received second data message, update local clock and / or time base station number, and broadcast third data message;UWB positioning base station received third data message, ranging is carried out based on third data message, and fourth data message is uploaded to server;Server generates the positioning information of UWB positioning label and mobile UWB positioning base station based on fourth data message.CN201910854335.2 discloses a kind of positioning method, device and system based on ultra-wide band, wherein the method includes: at least one UWB host and at least two UWB labels in space are used to construct positioning coordinate system, wherein the UWB host and the UWB label are not collinear in space;UWB target node is positioned according to the positioning coordinate system.

[0006] The above existing conventional technical solutions cannot meet the positioning needs of UWB positioning base station in underground mining scene. SUMMARY

[0007] The purpose of the present application is to solve the problems existing in the positioning technology of mobile UWB positioning base station, and to provide a UWB positioning network dynamic expansion and migration method and system, medium and product, to meet the needs of dynamic expansion and migration of wireless UWB positioning base station in UWB positioning network in underground mining scene.

[0008] The technical solution of the present application is as follows:

[0009] In the first aspect, the present application provides a kind of UWB positioning network dynamic expansion and migration method, including the following steps:

[0010] Step 1, in actual scene, each possible installation position of wireless UWB positioning base station is arranged with anchor point identification device of demarcation point, and the wireless UWB positioning base station to be expanded or migrated is taken as target positioning base station;The anchor point identification is obtained by the target positioning base station at corresponding anchor point identification device, and the base station is installed at the position;

[0011] The anchor point identification device is anchor point signboard with identification code, and the target positioning base station identifies the identification code on the anchor point signboard based on code scanning device to obtain the anchor point identification;Or,

[0012] The anchor point identifier is an RFID tag. The target positioning base station obtains the anchor point identifier by recognizing the identifier information stored in the RFID tag based on an RFID reader.

[0013] Step 2: The target positioning base station that has obtained the anchor point mark sends the base station identifier of the target positioning base station and the obtained corresponding anchor point identifier to the existing wired UWB positioning base station in the UWB positioning network based on the first set time slot in the positioning cycle, and the wired UWB positioning base station sends it to the host computer; the first set time slot can be understood as a reporting time slot reserved in the positioning cycle of the UWB positioning system.

[0014] Step 2.1: The base station identifier of the target positioning base station and the corresponding anchor point identifier obtained are carried in the first message within the UWB positioning network;

[0015] 2.2 The target positioning base station sends the first message to the wired UWB positioning base station, which then reports it to the host computer for processing.

[0016] 2.2.1 When the distance between the target positioning base station and the wired UWB positioning base station is less than the transmission distance, the target positioning base station directly sends the first message to the wired UWB positioning base station; otherwise, it forwards the message through other wireless UWB positioning base stations.

[0017] 2.2.2 Other wireless UWB positioning base stations distinguish their proximity to wired UWB positioning base stations based on polling coding;

[0018] 2.2.3 Based on polling coding, each other wireless UWB positioning base station forwards the first message sent by the target positioning base station in the direction from far to near with the wired UWB positioning base station. That is, the forwarding starts from the wireless UWB positioning base station that is relatively close to the target positioning base station and continues until it is forwarded to the wired UWB positioning base station, which then reports it to the host computer for processing.

[0019] Step 3: The host computer confirms whether the target positioning base station is dynamically expanded or migrated based on the base station identifier and the corresponding anchor point identifier; and stores and updates the relevant data of the target positioning base station and the corresponding anchor point identifier.

[0020] Specifically, if both the base station identifier and the corresponding anchor point identifier of the target positioning base station are newly added, it is a dynamically expanded base station; if the base station identifier of the target positioning base station is the original one, but the corresponding anchor point identifier is newly added, it is a migrated base station.

[0021] Furthermore, the host computer automatically identifies the base station installation parameters of the newly added target positioning base station in the UWB positioning system based on the base station identifier and corresponding anchor point identifier of the target positioning base station, namely, the wireless UWB positioning base station (corresponding to the extended scenario) and / or the wireless UWB positioning base station with a changed location (corresponding to the migration scenario), thereby providing a data foundation for UWB positioning; the installation parameters include: base station antenna coordinates, base station antenna installation direction and other attribute data;

[0022] Step 4: The host computer sends the base station configuration information to the existing wired UWB positioning base station in the UWB positioning network, and then the wired UWB positioning base station sends the base station configuration information to the target positioning base station based on the second set time slot in the positioning cycle in the network.

[0023] 4.1 The base station configuration information sent by the host computer is carried in the second message in the UWB positioning network;

[0024] 4.2 The host computer sends the base station configuration information to the wired UWB positioning base station in the UWB positioning network, and the wired UWB positioning base station then sends the base station configuration information to the target positioning base station.

[0025] 4.2.1 When the distance between the wired UWB positioning base station and the target positioning base station is less than the transmission distance, the wired UWB positioning base station directly sends the second message to the target positioning base station; otherwise, it is forwarded through each wireless UWB positioning base station.

[0026] 4.2.2 Each wireless UWB positioning base station uses polling coding to distinguish its proximity to wired UWB positioning base stations;

[0027] 4.2.3 Based on polling coding, each wireless UWB positioning base station forwards the second message to the target positioning base station in a direction from near to far from the wired UWB positioning base station. That is, the wired UWB positioning base station forwards the second message to the wireless UWB positioning base station closest to it until it is forwarded to the target positioning base station.

[0028] Step 5: The target positioning base station can then be used within the UWB positioning network.

[0029] Furthermore, in the above-mentioned UWB positioning network dynamic expansion and migration method, in step 2, the first message is also used to carry the ranging results of the wireless UWB positioning base station measuring the distance of the UWB positioning tag.

[0030] Furthermore, in the above-mentioned UWB positioning network dynamic expansion and migration method, in step 2, the target positioning base station sends the base station identifier and the obtained corresponding anchor point identifier, and at the same time, sends the polling code allocation request of the base station to the host computer.

[0031] Furthermore, in the above-mentioned UWB positioning network dynamic expansion and migration method, in steps 3 and 4, the host computer receives the polling code allocation request sent by the target positioning base station, and allocates and sends the polling code to the target positioning base station; wherein, sending the polling code and sending the base station configuration information are performed simultaneously.

[0032] Furthermore, in the above-mentioned UWB positioning network dynamic expansion and migration method, the method for setting the first and second time slots is as follows:

[0033] Assuming the positioning frequency of the UWB positioning tag is f, then the positioning cycle of the entire UWB positioning system is 1 / f; let the ranging cycle of a single UWB positioning tag be... Therefore, the positioning period 1 / f is divided into One time slot; in Two time slots are reserved in each time slot;

[0034] One is set as time slot i, which is the second set time slot applied to the sending of the second message;

[0035] The other is set to time slot j, which is the first set time slot applied to the reporting of the first message.

[0036] Furthermore, in the above-mentioned UWB positioning network dynamic expansion and migration method, each wireless UWB positioning base station in the positioning system transmits or / and forwards information in each cycle using a first set time slot and receives or / or forwards information using a second set time slot.

[0037] Secondly, this application provides a UWB positioning system, which includes a fixed-location wired UWB positioning base station, an adjustable-location wireless UWB positioning base station, an anchor point marking device, and a host computer; the UWB positioning system is configured to execute the method described in the first aspect of this application.

[0038] Thirdly, this application provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the first aspect of this application.

[0039] Fourthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in the first aspect of this application.

[0040] Compared with the prior art, the advantages of the present invention are:

[0041] (1) An efficient and convenient method for dynamic expansion and migration of UWB positioning system, which does not require communication cables and realizes wireless cascaded data transmission based on UWB signals;

[0042] (2) During the dynamic expansion and migration process, it has a fault-proof design and uses near-field perception method to replace the configuration process such as human-computer interactive input of base station coordinates, so as to avoid the abnormality of the positioning system caused by information input errors. Attached Figure Description

[0043] Figure 1 This is a flowchart illustrating the UWB positioning method according to an embodiment of this application;

[0044] Figure 2 This is a schematic diagram of the spatial topology of the tunnels in an embodiment of this application;

[0045] Figure 3 for Figure 2 A schematic diagram showing the installation location of wired base stations in the alleyway space;

[0046] Figure 4 for Figure 3 A schematic diagram of the UWB positioning signal coverage area in the tunnel space shown.

[0047] Figure 5 for Figure 2 The diagram shows the tunnel space continuing to be excavated forward;

[0048] Figure 6 This is one of the schematic diagrams illustrating the principle of dynamically expanding the UWB positioning system according to an embodiment of this application;

[0049] Figure 7 This is the second schematic diagram illustrating the principle of dynamically expanding the UWB positioning system according to an embodiment of this application;

[0050] Figure 8 This is a schematic diagram illustrating the principle of adjusting the mining plan in the embodiments of this application;

[0051] Figure 9 This is a schematic diagram illustrating the principle of dynamically migrating the UWB positioning system based on a mining plan, as described in this application embodiment. Detailed Implementation

[0052] Example

[0053] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0055] In related technologies, conventional UWB positioning systems cannot meet the positioning needs of underground mining scenarios, mainly in the following aspects:

[0056] (1) As the roadway is excavated, it will gradually extend and deepen. Therefore, it is necessary to dynamically expand the UWB positioning system to meet the accurate positioning in the extended roadway. The existing method of expanding the UWB positioning base station requires reconnection and configuration, which is not only time-consuming and laborious, but also cannot meet the timeliness requirements of mine production.

[0057] (2) When blasting is carried out in the tunnel, the UWB positioning base station near the end is easily damaged. Therefore, the UWB positioning base station and the corresponding communication cable need to be removed before blasting. After blasting, the communication connection and configuration are re-established, which is cumbersome and affects the construction progress.

[0058] (3) When the production site changes and the UWB positioning system needs to be dynamically relocated, it is also necessary to reconnect and reconfigure the communication, which cannot meet the timeliness requirements of mine production.

[0059] Based on this, in various embodiments of this application, a UWB positioning method that supports dynamic expansion and migration is provided, which enables efficient and convenient dynamic expansion or migration of the UWB positioning system when the mining scene changes dynamically or mining disturbances occur, thereby better meeting the positioning timeliness and convenience requirements of the mining scene.

[0060] For example, this application provides a UWB positioning method that supports dynamic expansion and migration, applied to a UWB positioning system. The UWB positioning system includes fixed-location wired UWB positioning base stations and adjustable-location wireless UWB positioning base stations, and each location used to deploy the wireless UWB positioning base station is equipped with an anchor point marker device, such as... Figure 1 As shown, the method includes:

[0061] Step 101: The target UWB positioning base station obtains the anchor point identifier of the corresponding anchor point identifier device, wherein the target UWB positioning base station includes newly added wireless UWB positioning base stations and / or wireless UWB positioning base stations with changed locations.

[0062] Step 102: The target UWB positioning base station sends its base station identifier and the corresponding anchor point identifier to the wired UWB positioning base station based on the first set time slot in the positioning cycle.

[0063] Understandably, by introducing wireless UWB positioning base stations, and based on the base station identifier and the corresponding anchor point identifier, the current installation location of the wireless UWB positioning base station can be automatically identified, thereby realizing the dynamic expansion or migration of the UWB positioning system, which can better meet the needs of positioning timeliness and convenience in underground mining scenarios.

[0064] For example, a wired UWB positioning base station can forward the base station identifier of the target UWB positioning base station and the corresponding anchor point identifier to a host computer. The host computer can further determine the base station installation parameters of the target UWB positioning base station based on the anchor point identifier and a preset correspondence between the anchor point identifier and base station installation parameters. In this way, the base station installation parameters of newly added wireless UWB positioning base stations (corresponding to extended scenarios) and / or wireless UWB positioning base stations with changed locations (corresponding to migration scenarios) in the UWB positioning system can be automatically identified, thereby providing a data foundation for UWB positioning.

[0065] It is understandable that the base station installation parameters may include attribute data such as base station antenna coordinates and base station antenna installation direction, which facilitates the host computer to perform UWB positioning based on the base station installation attribute data.

[0066] For example, the anchor point marking device is an anchor point marking plate with an identification code, and the target UWB positioning base station obtains the anchor point marking by recognizing the identification code on the anchor point marking plate based on a scanning device; or, the anchor point marking is an RFID tag, and the target UWB positioning base station obtains the anchor point marking by recognizing the identification information stored in the RFID tag based on an RFID reader.

[0067] It should be noted that each location in the mine where a wireless UWB positioning base station may be installed is equipped with an anchor point marker to identify the installation location. This anchor point marker can be an anchor point sign with a set identification code or an RFID tag storing the set identification information, allowing the wireless UWB positioning base station to obtain the anchor point identifier based on near-field sensing. This anchor point identifier can be understood as an ID used to uniquely identify the aforementioned installation location.

[0068] In one application example, the identification code on the anchor point sign can be a QR code, barcode, or other identification code. A scanning device is connected to the wireless UWB positioning base station. The scanning device scans the identification code on the anchor point sign, reads the anchor point ID information carried by the anchor point, and then establishes the association between the wireless UWB positioning base station and the anchor point.

[0069] In another application example, the anchor point identification device is an RFID tag carrying the anchor point ID. An RFID reader is added to the wireless UWB positioning base station. When the wireless UWB positioning base station approaches the anchor point, it automatically reads the anchor point ID information carried by the RFID tag, thereby establishing the association between the wireless UWB positioning base station and the anchor point.

[0070] For example, the host computer in the UWB positioning system can be configured with an anchor point management module. This module is used to configure the attribute information of each anchor point, such as the base station installation parameters of the wireless UWB positioning base station installed at the anchor point. That is, a mapping relationship between the anchor point ID and the corresponding base station installation parameters is constructed. In this way, after the host computer obtains the base station identifier and the corresponding anchor point identifier, it can automatically determine the base station installation parameters corresponding to the base station based on the base station installation parameters corresponding to the anchor point identifier in the mapping relationship, thereby realizing UWB positioning based on the base station location.

[0071] Here, the first set time slot can be understood as a reserved reporting time slot in the positioning cycle of the UWB positioning system. Based on this reporting time slot, the anchor point identifiers of newly added wireless UWB positioning base stations and / or wireless UWB positioning base stations with location changes can be automatically reported. For example, the report can be sent to the wired UWB positioning base station through the cascading relationship between wireless UWB positioning base stations, and then uploaded to the host computer by the wired UWB positioning base station via the network.

[0072] For example, the base station identifier of the target positioning base station and the corresponding anchor point identifier are carried in a first message. The first message is also used to carry the ranging results of the wireless UWB positioning base station measuring the distance of the UWB positioning tag. The target UWB positioning base station sends the base station identifier of the target UWB positioning base station and the corresponding anchor point identifier to the wired UWB positioning base station based on a first set time slot in the positioning cycle. This includes: after the target UWB positioning base station determines that it has obtained the corresponding anchor point identifier and / or the ranging results, it sends the first message to the next-level wireless UWB positioning base station or wired UWB positioning base station based on the first set time slot in the positioning cycle.

[0073] Understandably, the first set time slot can reuse the time slot for uploading ranging results, thus reducing the occupation of the positioning time slot of the UWB positioning system.

[0074] Exemplarily, the method further includes:

[0075] Each wireless UWB positioning base station forwards the first message based on polling coding along the direction from farthest to closest to the wired UWB positioning base station;

[0076] The polling code is determined based on the distance relationship between each wireless UWB positioning base station and the wired UWB positioning base station.

[0077] Understandably, each wireless UWB positioning base station can use polling coding to distinguish its proximity to the wired UWB positioning base station, thereby implementing the processing strategy for the first message. For example, if it is determined that the first message comes from a relatively distant wireless UWB positioning base station, the wireless UWB positioning base station will continue to forward the first message to a relatively nearby wireless UWB positioning base station, until it is forwarded to the wired UWB positioning base station, which will then report it to the host computer for processing.

[0078] Exemplarily, the method further includes:

[0079] The wired UWB positioning base station sends base station configuration information to the target wireless UWB positioning base station based on the second set time slot in the positioning cycle.

[0080] Understandably, the base station location information on the host computer can first be sent to the wired UWB positioning base station, and then the wired UWB positioning base station can send it to the target wireless UWB positioning base station through wireless cascading.

[0081] For example, the base station configuration information is carried by the second message, and the wired UWB positioning base station sends the base station configuration information to each of the wireless UWB positioning base stations based on a second predetermined time slot in the positioning period, including:

[0082] The wired UWB positioning base station sends the second message to the adjacent first wireless UWB positioning base station based on the second set time slot in the positioning cycle;

[0083] The first wireless UWB positioning base station and other wireless UWB positioning base stations forward the second message based on polling coding in the direction from near to far from the wired UWB positioning base station.

[0084] It is understandable that each wireless UWB positioning base station can use polling coding to distinguish the proximity relationship between itself and the wired UWB positioning base station, thereby implementing the processing strategy for the second message. For example, the wired UWB positioning base station forwards the second message from the relatively close wireless UWB positioning base station to the relatively far wireless UWB positioning base station, until it is forwarded to the final wireless UWB positioning base station.

[0085] Exemplarily, the method further includes:

[0086] The wired UWB positioning base station also forwards the polling code allocation request of the target UWB positioning base station to the host computer;

[0087] The wired UWB positioning base station receives the polling code of the target UWB positioning base station sent by the host computer, and sends the polling code of the target UWB positioning base station based on the second message.

[0088] Understandably, the second message can transmit the polling code assigned by the host computer, thereby enabling the setting of the polling code for the wireless UWB positioning base station.

[0089] In one application example, assuming the positioning frequency of the UWB positioning tag is f, then the positioning cycle of the entire UWB positioning system is 1 / f. Let the ranging cycle of a single UWB positioning tag be... Therefore, the positioning period 1 / f is divided into Each time slot.

[0090] exist Two time slots are reserved in the first time slot, for the following purpose:

[0091] (1) One of the time slots is used for the wireless UWB positioning base station to report the data message of the association between the base station and the anchor point, and the successor wireless base station to continue to forward the data message of the association between the base station and the anchor point after receiving the message. It is set as time slot j, which corresponds to the first set time slot used to report the first message.

[0092] (2) Another time slot is used for the wired UWB positioning base station to send data packets containing base station configuration information, and for the wireless base station to continue forwarding data packets containing base station configuration information after receiving the packets. This is set as time slot i; that is, it corresponds to the second set time slot mentioned above for sending the second packet.

[0093] It should be noted that the wireless UWB positioning base station can report data packets relating the base station to the anchor point, and the successor wireless base station can forward the data packets relating the base station to the anchor point after receiving the packets (corresponding to the reporting process of the first packet mentioned above). The specific process is as follows:

[0094] At time slot j of each positioning cycle, data packets relating the base station and the anchor point are reported or forwarded in descending order of the polling coding values ​​of the wireless base station. The data structure of the payload content of the data packets is shown in Table 1 below:

[0095] Table 1. Data Structure of Data Packet Content

[0096] Name Occupied size Data message serial number 1 byte Function code 1 byte Source address 4 bytes Associated base station ID 4 bytes Associated anchor point ID 4 bytes Source address polling code 1 byte 1st to Nth wireless base station heartbeat packet 4*N bytes M tags and wireless base station ranging results (4+4+8)*M bytes

[0097] The positional relationship between wired UWB positioning base stations and wireless UWB positioning base stations is as follows: the wireless base station adjacent to wired base station L1 is M1, the next wireless base station adjacent to wireless base station M1 is M2, the next one is M3, and so on.

[0098] Let the wireless base stations be M4, M3, M2, and M1. At this point, wireless base station M4 has completed the construction of the association between the UWB base station and the anchor point through near-field sensing.

[0099] Wherein, source address: the UWB base station ID of the sending end, which is the ID of the wireless base station M4 in this case;

[0100] Associated Base Station ID: After establishing the association between the UWB base station and the anchor point through near-field sensing, the associated base station ID is reported. At this time, the content of the data packet is the ID of the wireless base station M4.

[0101] Associated Anchor Point ID: After establishing the association between the UWB base station and the anchor point through near-field sensing, the associated anchor point ID is reported. At this time, the content of the data packet is the ID of the anchor point associated with the wireless base station M4.

[0102] Source address polling code: The polling code of the transmitting UWB base station. At this time, the wireless base station M4 has no polling code.

[0103] Heartbeat packets from the first to Nth wireless base stations: The set of base station IDs reported sequentially by the wireless base stations, which is the ID of wireless base station M4 in this case;

[0104] Ranging results of M tags and wireless base stations: A collection of ranging results of UWB tags and wireless base stations.

[0105] After receiving the above data packet, wireless base station M3 processes and forwards it. The processing involves the following:

[0106] Source address: Modify the content of the data packet to the ID of wireless base station M3;

[0107] Associated Base Station ID: Modify the content of the data packet to the ID of wireless base station M3;

[0108] Associated Anchor ID: Modify the content of the data packet to the ID of the anchor point associated with wireless base station M3;

[0109] Source address polling code: Modify the content of the data packet to the polling code of wireless base station M3;

[0110] Heartbeat packets from the 1st to Nth wireless base stations: The content of the modified data packet is a set of IDs of wireless base station M4 and wireless base station M3.

[0111] Next, after receiving the data packet forwarded by wireless base station M3, wireless base station M2 continues to process and forward the data packet according to the above principle. At this time, in addition to wireless base station M1 receiving the data packet forwarded by wireless base station M2, wireless base station M3 will also receive the data packet forwarded by wireless base station M2. The processing logic is as follows:

[0112] If the "source address polling code" value in a data packet is greater than its own polling code value, the data packet is processed and forwarded; otherwise, the data packet is ignored.

[0113] Following the above logic, the wireless UWB base station sends a data packet reporting the association between the base station and the anchor point to the wired base station L1.

[0114] At time slot i of each positioning cycle, the wired UWB positioning base station L1 sends a data packet containing base station configuration information. The data structure of the payload content of the data packet is shown in Table 2 below:

[0115] Table 2. Data Structure of Data Packet Load Content

[0116] Name Occupied size Data message serial number 1 byte Function code 1 byte Source address 4 bytes Base station transmission power 1 byte Main antenna delay 2 bytes Target base station ID 4 bytes Target base station polling code 1 byte Source address polling code 1 byte

[0117] Wherein, source address: the UWB base station ID of the sending end, which is the ID of the wired base station L1 in this case;

[0118] Base station transmit power: System parameters configured by the host computer are sent to all wireless base stations through wired base station L1;

[0119] Main antenna delay: The system parameters configured by the host computer are sent to all wireless base stations through the wired base station L1 to calibrate the delay caused by the length of the main antenna feeder.

[0120] Target base station ID: When the host computer receives a request from a wireless base station to allocate a polling code and completes the allocation, it sends this information, which contains the ID of the wireless base station that requested the allocation of the polling code.

[0121] Polling code of the target base station: When the host computer receives a request from the wireless base station to allocate a polling code and completes the allocation, it sends out this information. The information content is the polling code of the wireless base station that requested the allocation of the polling code.

[0122] Source address polling code: The polling code of the sending UWB base station. In this case, it is the polling code of the wired base station L1. Let the value of the polling code be 1.

[0123] After receiving the above data packet, wireless base station M1 processes and forwards it. The processing involves the following:

[0124] Source address: Modify the content of the data packet to the ID of wireless base station M1;

[0125] Source address polling code: Modify the content of the data packet to the polling code of wireless base station M1, and set the value of the polling code to 2.

[0126] After receiving the data packet forwarded by wireless base station M1, wireless base station M2 continues to process and forward the data packet according to the above principle. At this time, in addition to wireless base station M3 receiving the data packet forwarded by wireless base station M2, wireless base station M1 will also receive the data packet forwarded by wireless base station M2. The processing logic is as follows:

[0127] When the "source address polling code" value in a data packet is less than its own polling code value, the data packet is processed and forwarded; otherwise, the data packet is ignored. Following the above logic, the wired UWB base station sends data packets containing base station configuration information, and the wireless base station receives and forwards these data packets to the next layer of base station configuration information.

[0128] It should be noted that, in each positioning cycle, except for time slots i and j, the UWB positioning tag performs ranging with the UWB positioning base station. When the UWB positioning tag performs ranging with the wired UWB positioning base station, the ranging result is sent to the host computer via the network for positioning calculation. When the UWB positioning tag performs ranging with the wireless UWB positioning base station, the ranging result is forwarded to the wired UWB positioning base station via a data packet reporting the association between the base station and the anchor point in time slot j of the next positioning cycle. The data packet is then sent to the host computer via the network for positioning calculation.

[0129] It is understood that the positioning method of this application embodiment can efficiently and dynamically expand or migrate the UWB positioning system when the underground mining scene changes dynamically or mining disturbance occurs. The technical effects include:

[0130] (1) An efficient and convenient method for dynamic expansion and migration of UWB positioning system, which does not require communication cables and realizes wireless cascaded data transmission based on UWB signals;

[0131] (2) During the dynamic expansion and migration process, it has a fault-proof design and uses near-field perception method to replace the configuration process such as human-computer interactive input of base station coordinates, so as to avoid the abnormality of the positioning system caused by information input errors.

[0132] The following example illustrates the UWB positioning method of this application. A certain underground mine uses UWB for high-precision personnel positioning. Figure 2 shows the schematic diagram of the tunnel spatial topology in the production scene. Figure 2 shows the tunnel edge line 1, tunnel center line 2, and anchor point 3. The carrier of anchor point 3 is a sign containing a QR code.

[0133] The positioning frequency of the UWB positioning tag is 1Hz, so the positioning period of the UWB positioning system is 1s. The ranging period of a single UWB positioning tag is 5ms. Therefore, the positioning period is divided into 200 time slots. The first time slot is used for the wireless UWB base station to report the data packet of the association between the base station and the anchor point, and for the successor wireless base station to continue forwarding the data packet of the association between the base station and the anchor point. The second time slot is used for the wired UWB base station to send the data packet of the base station configuration information, and for the wireless base station to continue forwarding the data packet of the base station configuration information. The other 198 time slots are used for ranging between the UWB positioning tag and the UWB positioning base station.

[0134] The installation location of wired base station 4 is shown in Figure 3. It is understood that the location of wired base station 4 (i.e., the aforementioned wired UWB positioning base station) is fixed, the number of which is one or more, and it is connected to the host computer via a communication line. The area covered by the UWB positioning signal after the installation of wired base station 4 is shown in Figure 4.

[0135] Scene 1:

[0136] The mine needs to continue excavating the tunnel at location A as shown in Figure 5, therefore the UWB positioning system needs to be dynamically extended.

[0137] As shown in Figure 6, a wireless UWB base station 0205 (i.e., wireless base station 5) is installed at anchor point 0121. After the base station is installed and powered on, the association between anchor point 0121 and wireless UWB base station 0205 is established through near-field sensing. In the first time slot of 000101s, wireless UWB base station 0205 reports a data packet showing the association between the base station and the anchor point. The payload of the data packet is shown in Table 3 below:

[0138] Table 3

[0139] Name Occupied size Content Data message serial number 1 byte 0002 Function code 1 byte 0002 Source address 4 bytes 0205 Associated base station ID 4 bytes 0205 Associated anchor point ID 4 bytes 0121 Source address polling code 1 byte 1st to Nth wireless base station heartbeat packet 4*N bytes 0205 M tags and wireless base station ranging results (4+4+8)*M bytes

[0140] After receiving the data packet, the wired base station 0204 sends it to the host computer via the network.

[0141] In the second time slot of 000201s, wired UWB base station 0204 sends a data packet containing base station configuration information. The payload of the data packet is shown in Table 4 below:

[0142] Table 4

[0143] Name Occupied size Content Data message serial number 1 byte 0001 Function code 1 byte 0001 Source address 4 bytes 0204 Base station transmission power 1 byte 0034 Main antenna delay 2 bytes 0006 Target base station ID 4 bytes Target base station polling code 1 byte Source address polling code 1 byte 1

[0144] After receiving the above data packet, the wireless UWB base station 0205 processes and forwards it. The payload of the processed data packet is shown in Table 5 below:

[0145] Table 5

[0146] Name Occupied size Content Data message serial number 1 byte 0001 Function code 1 byte 0001 Source address 4 bytes 0205 Base station transmission power 1 byte 0034 Main antenna delay 2 bytes 0006 Target base station ID 4 bytes Target base station polling code 1 byte Source address polling code 1 byte 2

[0147] At this point, a partial dynamic extension of the UWB positioning system was completed.

[0148] Using the same operating method, wireless base station 0206 is installed at anchor point 0122, base station 0207 at anchor point 0123, and base station 0208 at anchor point 0124. The dynamically extended UWB positioning system signal can then cover the location of the tunnel extension excavation, as shown in Figure 7.

[0149] Scene 2:

[0150] The mine is currently producing at location B as shown in Figure 8. Due to adjustments in the mine's mining plan, production will need to be moved to location C. Therefore, the UWB positioning system needs to be dynamically migrated.

[0151] As shown in Figure 9, the wireless UWB base station 0209 is removed from anchor point 0107 and installed at anchor point 0108. The association between base station 0209 and anchor point 0108 is established through near-field sensing. After the wireless UWB base station 0209 reports the association between the base station and the anchor point, and the wired UWB base station 0203 sends the base station configuration information, the dynamic migration of the UWB positioning system can be completed.

[0152] In an exemplary embodiment, this application also provides a UWB positioning system, which includes a wired UWB positioning base station with a fixed location, a wireless UWB positioning base station with an adjustable location, an anchor point marking device, and a host computer. The UWB positioning system is configured to execute the UWB positioning method described in this application embodiment.

[0153] In an exemplary embodiment, this application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, such as a memory that stores a computer program. This computer program can be executed by a UWB positioning system to complete the steps described in the method of this application embodiment. The computer-readable storage medium can be a ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM, etc.

[0154] In an exemplary embodiment, this application also provides a computer program product, including a computer program that can be executed by a UWB positioning system to complete the steps described in the method of this application embodiment.

[0155] It should be noted that terms such as "first" and "second" are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0156] Furthermore, the technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0157] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for dynamic expansion and migration of UWB positioning networks, characterized in that, Includes the following steps: Step 1: In the actual scenario, set up anchor point marking devices at various locations where wireless UWB positioning base stations may be installed, and use the wireless UWB positioning base stations to be expanded or relocated as target positioning base stations; obtain the anchor point markings of the target positioning base stations at the corresponding anchor point marking devices and install the base stations at those locations. Step 2: The target positioning base station that has obtained the anchor point mark sends the base station identifier of the target positioning base station and the obtained corresponding anchor point identifier to the existing wired UWB positioning base station in the UWB positioning network based on the first set time slot in the positioning cycle, and the wired UWB positioning base station sends it to the host computer. Step 2.1: The base station identifier of the target positioning base station and the corresponding anchor point identifier obtained are carried in the first message within the UWB positioning network; Step 2.2: The target positioning base station sends the first message to the wired UWB positioning base station, and the wired UWB positioning base station reports it to the host computer for processing. Step 3: The host computer confirms whether the base station is dynamically expanded or migrated based on the base station identifier and corresponding anchor point identifier of the target positioning base station; And store and update the relevant data of the target positioning base station and the corresponding anchor point marker; Specifically, if both the base station identifier and the corresponding anchor point identifier of the target positioning base station are newly added, it is a dynamically expanded base station; if the base station identifier of the target positioning base station is the original one, but the corresponding anchor point identifier is newly added, it is a migrated base station. Furthermore, the host computer automatically identifies the base station installation parameters of the newly added target positioning base station in the UWB positioning system based on the base station identifier and corresponding anchor point identifier of the target positioning base station; Step 4: The host computer sends the base station configuration information to the existing wired UWB positioning base station in the UWB positioning network, and then the wired UWB positioning base station sends the base station configuration information to the target positioning base station based on the second set time slot in the positioning cycle in the network. 4.1 The base station configuration information sent by the host computer is carried in the second message within the UWB positioning network; 4.2 The host computer sends the base station configuration information to the wired UWB positioning base station in the UWB positioning network, and the wired UWB positioning base station then sends the base station configuration information to the target positioning base station. Step 5: The target positioning base station can then be used within the UWB positioning network.

2. The UWB positioning network dynamic expansion and migration method according to claim 1, characterized in that, The specific method for step 2.2 is as follows: 2.2.1 When the distance between the target positioning base station and the wired UWB positioning base station is less than the transmission distance, the target positioning base station directly sends the first message to the wired UWB positioning base station; otherwise, it forwards the message through other wireless UWB positioning base stations. 2.2.2 Other wireless UWB positioning base stations distinguish their proximity to wired UWB positioning base stations based on polling coding; 2.2.3 Based on polling coding, each other wireless UWB positioning base station forwards the first message sent by the target positioning base station in the direction from far to near with the wired UWB positioning base station. That is, the forwarding starts from the wireless UWB positioning base station that is relatively close to the target positioning base station and continues until it is forwarded to the wired UWB positioning base station, which then reports it to the host computer for processing.

3. The method for dynamic expansion and migration of UWB positioning networks according to claim 1, characterized in that, The specific method for step 4.2 is as follows: 4.2.1 When the distance between the wired UWB positioning base station and the target positioning base station is less than the transmission distance, the wired UWB positioning base station directly sends the second message to the target positioning base station; otherwise, it is forwarded through each wireless UWB positioning base station. 4.2.2 Each wireless UWB positioning base station uses polling coding to distinguish its proximity to wired UWB positioning base stations; 4.2.3 Based on polling coding, each wireless UWB positioning base station forwards the second message to the target positioning base station in a direction from near to far from the wired UWB positioning base station. That is, the wired UWB positioning base station forwards the second message to the nearest wireless UWB positioning base station until it is forwarded to the target positioning base station.

4. The method for dynamic expansion and migration of UWB positioning networks according to claim 1, characterized in that, In step 2, the first message is also used to carry the ranging results of the wireless UWB positioning base station measuring the distance of the UWB positioning tag. While sending the base station identifier and the corresponding anchor point identifier, the target positioning base station also sends a polling code allocation request for the base station to the host computer.

5. The method for dynamic expansion and migration of UWB positioning networks according to claim 1, characterized in that, In step 4, the host computer receives the polling code allocation request sent by the target positioning base station, and allocates and sends the polling code to the target positioning base station; wherein, sending the polling code and sending the base station configuration information are performed simultaneously.

6. The method for dynamic expansion and migration of UWB positioning networks according to claim 1, characterized in that, The methods for setting the first and second time slots are as follows: Assuming the positioning frequency of the UWB positioning tag is f, then the positioning cycle of the entire UWB positioning system is 1 / f; let the ranging cycle of a single UWB positioning tag be... Therefore, the positioning period 1 / f is divided into One time slot; in Two time slots are reserved in each time slot; One is set as time slot i, which is the second set time slot applied to the sending of the second message; The other is set to time slot j, which is the first set time slot applied to the reporting of the first message.

7. The method for dynamic expansion and migration of UWB positioning networks according to claim 1, characterized in that, Each wireless UWB positioning base station within the positioning system transmits or / and forwards information in each cycle using a first predetermined time slot and receives or / or forwards information using a second predetermined time slot.

8. A UWB positioning system, the UWB positioning system being configured to perform the method of claim 1, characterized in that, The UWB positioning system includes a fixed-location wired UWB positioning base station, an adjustable-location wireless UWB positioning base station, an anchor point marking device, and a host computer.

9. A storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, is used to implement the steps of the method of claim 1.

10. A computer program product, characterized in that, It includes a computer program, which, when executed by a processor, implements the steps of the method of claim 1.

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