Precise positioning system and positioning method for mine personnel and mobile terminal equipment

Abstract

The invention discloses an accurate positioning system and method for mine personnel and mobile terminal equipment, the system can automatically correct a reference error caused by roadway deformation or equipment displacement by introducing a dynamic baseline real-time measurement technology, a multi-source data fusion mechanism is adopted, the arrival time difference and a received signal strength value are synchronously utilized, and the positioning accuracy of the mine personnel and the mobile terminal equipment is improved. And resolving is carried out through a weighted centroid algorithm, so that the robustness and the positioning stability of the system are remarkably improved. An inertial measurement unit is innovatively integrated, a signal intensity value is intelligently compensated by sensing a walking direction of a person and combining a human body shielding model, a measurement error caused by human body shielding is effectively reduced, a multipath interference index is extracted by analyzing a channel pulse response, an algorithm weight is dynamically adjusted accordingly, and the accuracy of human body shielding is improved. According to the method, environment self-adaptive positioning optimization is realized, the technical bottlenecks of insufficient precision and poor environment adaptability of the traditional positioning technology are effectively solved, and reliable technical guarantee is provided for safe production of mines.

Description

Technical Field

[0001] This invention relates to the field of precision positioning technology, and in particular to a precision positioning system and method for mine personnel and mobile terminal equipment. Background Technology

[0002] Mine safety production heavily relies on efficient and reliable personnel positioning technology. Existing technologies mostly employ wireless positioning schemes based on signal strength or time difference of arrival, achieving zonal positioning of personnel by deploying receivers in roadways. However, these technologies face the following major problems in complex underground mines: First, the existing system relies on preset fixed equipment positions, which cannot adapt to changes in the relative positions of equipment caused by deformation of the tunnel structure, resulting in systematic positioning errors.

[0003] Secondly, the multipath effect is significant in mines, leading to drastic fluctuations in signal parameters. Existing methods mostly rely on single signal features, resulting in poor stability in complex environments and easily fluctuating positioning results.

[0004] Furthermore, the dynamic occlusion effect of personnel on signals is not fully considered in existing models, which introduces random measurement errors and further reduces positioning accuracy. Summary of the Invention

[0005] The purpose of this invention is to provide a precise positioning system and method for mine personnel and mobile terminal equipment, which solves the core technical problems of low accuracy, poor stability and insufficient environmental adaptability of existing personnel positioning technology in complex mine environments, caused by reference drift due to roadway deformation, signal fluctuation caused by multipath effect and random errors caused by human body obstruction.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a precise positioning system for mine personnel and mobile terminal equipment, comprising; A location management platform, and personnel location units that communicate with it; The personnel positioning unit includes a UWB signal transmitter carried by the miners and at least two UWB signal receivers deployed on both sides of the roadway. The UWB signal receiver is used to receive signals transmitted by the UWB signal transmitter and to communicate with it. The system is configured to perform the following positioning procedure: S1: The actual baseline distance between the two UWB signal receivers is measured and obtained in real time through the communication signal between the two UWB signal receivers; S2: Obtain the arrival time difference of the signal sent by the UWB signal transmitter to the two UWB signal receivers; S3: Obtain the received signal strength values ​​of the signal transmitted by the UWB signal transmitter at the two UWB signal receivers; S4: Based on the actual baseline distance, the time difference of arrival, and the received signal strength value, calculate the position coordinates of the UWB signal transmitter using a weighted centroid positioning algorithm.

[0007] Furthermore, the UWB signal transmitter integrates an inertial measurement unit.

[0008] Furthermore, the system is also configured to: Acquire the walking direction data sensed by the inertial measurement unit; In step S4, the received signal strength value is compensated and corrected based on the walking direction data.

[0009] Furthermore, in step S4, the weight coefficients of the weighted centroid localization algorithm are determined by the ratio of the received signal strength values.

[0010] Furthermore, the UWB signal receiver is also used to analyze the channel impulse response of the received UWB signal to extract multipath interference indicators; In step S4, the weights of different input features in the weighted centroid localization algorithm are dynamically adjusted according to the multipath interference index.

[0011] Furthermore, the multipath interference index is the ratio of the multipath component energy to the direct path energy in the channel impulse response.

[0012] A method for precise positioning of miners and mobile terminal devices, used to realize the functions of the aforementioned positioning system, the method comprising the following steps: The actual baseline distance between at least two UWB signal receivers deployed on both sides of the roadway is measured and obtained in real time through communication; the positioning signal transmitted by the UWB signal transmitter carried by the miners is received through the UWB signal receivers. Obtain the arrival time difference of the positioning signal to the two UWB signal receivers; obtain the received signal strength values ​​of the positioning signal at the two UWB signal receivers; Based on the actual baseline distance, the time difference of arrival, and the received signal strength value, the position coordinates of the UWB signal transmitter are calculated using a weighted centroid positioning algorithm.

[0013] Furthermore, walking direction data is sensed by an inertial measurement unit integrated within the UWB signal transmitter; In the step of calculating the position coordinates, the received signal strength value is compensated and corrected based on the walking direction data.

[0014] Furthermore, the channel impulse response of the positioning signal is analyzed to extract multipath interference indicators; In the step of calculating the location coordinates, the weights of the time difference of arrival and the received signal strength value in the weighted centroid positioning algorithm are dynamically adjusted according to the multipath interference index.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention effectively overcomes the benchmark error problem caused by roadway deformation or equipment displacement by introducing dynamic baseline real-time measurement technology, and improves the geometric basis of the positioning system from fixed preset to dynamic calibration, thus ensuring long-term positioning accuracy from the source.

[0016] By employing a multi-source data fusion mechanism, which simultaneously utilizes two physical quantities—time difference of arrival and received signal strength—and using a weighted centroid positioning algorithm for calculation, the system enhances its robustness to fluctuations or failures of single signal characteristics, thereby improving the stability and reliability of the positioning results.

[0017] Furthermore, by introducing walking direction data sensed by the inertial measurement unit and intelligently compensating for the received signal strength value based on the human body occlusion model, the system significantly reduces the asymmetric measurement error caused by the person's own posture and occlusion, making the positioning result more consistent with the person's true physical location.

[0018] Most importantly, by analyzing the channel impulse response to extract multipath interference indicators and dynamically adjusting the weights of different input features in the algorithm accordingly, the system possesses environmental adaptability. In complex environments with severe multipath effects, it can automatically reduce its dependence on unstable signals and prioritize the use of more reliable signal features, thus maintaining excellent positioning performance even in harsh environments. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a structural diagram of a precise positioning system for mine personnel and mobile terminal equipment according to the present invention; Figure 2 This is a flowchart illustrating a method for precise positioning of miners and mobile terminal devices according to the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] The technical solution of the present invention will be described in detail below with reference to specific embodiments. The following specific embodiments may be combined or substituted with each other according to the actual situation, and the same or similar concepts or processes may not be described again in some embodiments.

[0022] like Figures 1 to 2 As shown, this invention provides a precise positioning system and method for mine personnel and mobile terminal devices, including the implementation of the system starting from the hardware deployment phase. An industrial server is set up in the mine's surface dispatch center as a positioning management platform, responsible for data processing and scheduling of the entire system. In the tunnel sections requiring precise positioning, a UWB signal receiver (base station) is deployed at the same horizontal level on both side walls, with the initial distance between the two base stations set at fifty meters. They are reliably connected to the positioning management platform via an industrial Ethernet network. Underground workers must wear a specially designed UWB signal transmitter (tag), which integrates an inertial measurement unit (IMU) for real-time acquisition of personnel's motion posture data. This hardware configuration provides the necessary physical foundation for subsequent precise positioning.

[0023] After the system starts up, it first executes the dynamic baseline real-time measurement process. The positioning management platform periodically instructs the two UWB base stations to perform mutual ranging: base station A sends a ranging signal to base station B, base station B responds and replies, and by accurately calculating the round-trip time of the signal, the actual baseline distance between the two is determined in real time. This step effectively solves the systematic positioning error problem caused by slight changes in the position of the base stations due to tunnel deformation, and improves the geometric basis of positioning calculation from a fixed preset value to a real-time updated value, thus ensuring positioning accuracy from the source.

[0024] When personnel enter the coverage area of ​​the alleyway, their tags periodically emit UWB signals. Two base stations simultaneously receive these signals and perform three key measurements in parallel: recording the precise arrival time of the signal to calculate the Time Difference of Arrival (TDOA), measuring the received signal strength (RSSI value), and capturing the channel impulse response (CIR) waveform data of the signal. All of these measurement data are uploaded in real time to the positioning management platform for further processing.

[0025] During the data fusion and preprocessing stage, the system exhibits its core intelligent features. The platform first analyzes the CIR waveform, identifying the peak value of the first arriving direct path signal and subsequent multipath reflection peaks caused by reflections from the tunnel walls. It quantifies the degree of multipath interference in the current environment by calculating the ratio of the total energy of the multipath reflection signal to the energy of the direct path signal. This processing effectively solves the technical challenge of fluctuating signal measurements and unstable positioning results caused by multipath effects in tunnels. Simultaneously, the platform obtains walking direction data calculated by the IMU from the tags and, combined with a pre-stored human occlusion model parameter table, compensates for the differences in RSSI values ​​measured by the two base stations. This customized processing significantly reduces random measurement errors caused by human occlusion.

[0026] Entering the core weighted centroid localization calculation stage, the system demonstrates excellent environmental adaptability. The platform first calculates the ratio between the compensated RSSI value and the signal strength, then dynamically adjusts the weight allocation strategy of the localization algorithm based on the degree of multipath interference: when multipath interference is mild, the algorithm relies more heavily on the compensated RSSI ratio; when multipath interference is severe, it relies more on the relatively robust Time Difference of Arrival (TDOA) measurement. This intelligent weight adjustment mechanism enables the system to maintain positioning stability in various complex environments. Finally, the algorithm integrates real-time baseline distance, weighted TDOA, and signal strength information to calculate the precise location coordinates of the person using the weighted centroid algorithm.

[0027] The entire positioning process forms a complete closed loop: the positioning management platform displays the calculated precise coordinates of personnel on a map in the dispatch center in real time, and simultaneously stores them in a database for historical querying and trajectory analysis. Through periodic dynamic baseline measurements, continuous signal acquisition, and intelligent data processing, the system achieves continuous tracking and monitoring of personnel positions underground. This technical solution, integrating dynamic calibration, multi-source sensing, and intelligent algorithms, effectively overcomes the technical bottlenecks of insufficient accuracy and poor environmental adaptability in traditional mine personnel positioning systems, providing reliable technical support for safe mine production.

[0028] The implementation of this system not only solved specific technical problems but also produced significant technical effects through the synergistic effect of its various technical features. Dynamic baseline correction ensured the accuracy of the positioning basis, multipath interference analysis provided a basis for environmental adaptation decisions, human occlusion compensation eliminated measurement deviations caused by individual differences, and intelligent weight adjustment ultimately achieved accurate positioning under various working conditions. This complete technical solution enabled the positioning accuracy of miners to be consistently maintained at the sub-meter level, greatly improving the level of safety management for miners.

[0029] In addition to the preferred embodiments described above, the present invention has other embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection claimed by the present invention.

Claims

1. A precise positioning system for mine personnel and mobile terminal equipment, comprising, characterized in that, include: A location management platform, and personnel location units that communicate with it; The personnel positioning unit includes a UWB signal transmitter carried by the miners and at least two UWB signal receivers deployed on both sides of the roadway. The UWB signal receiver is used to receive signals transmitted by the UWB signal transmitter and to communicate with it. The system is configured to perform the following positioning procedure: S1: The actual baseline distance between the two UWB signal receivers is measured and obtained in real time through the communication signal between the two UWB signal receivers; S2: Obtain the arrival time difference of the signal sent by the UWB signal transmitter to the two UWB signal receivers; S3: Obtain the received signal strength values ​​of the signal transmitted by the UWB signal transmitter at the two UWB signal receivers; S4: Based on the actual baseline distance, the time difference of arrival, and the received signal strength value, calculate the position coordinates of the UWB signal transmitter using a weighted centroid positioning algorithm.

2. The precise positioning system for mine personnel and mobile terminal equipment according to claim 1, characterized in that, The UWB signal transmitter integrates an inertial measurement unit.

3. The precise positioning system for mine personnel and mobile terminal equipment according to claim 1, characterized in that, The system is also configured to: Acquire the walking direction data sensed by the inertial measurement unit; In step S4, the received signal strength value is compensated and corrected based on the walking direction data.

4. The precise positioning system for mine personnel and mobile terminal equipment according to claim 1, characterized in that, In step S4, the weight coefficients of the weighted centroid localization algorithm are determined by the ratio of the received signal strength values.

5. The precise positioning system for mine personnel and mobile terminal equipment according to claim 1, characterized in that, The UWB signal receiver is also used to analyze the channel impulse response of the received UWB signal to extract multipath interference indicators. In step S4, the weights of different input features in the weighted centroid localization algorithm are dynamically adjusted according to the multipath interference index.

6. The precise positioning system for mine personnel and mobile terminal equipment according to claim 1, characterized in that, The multipath interference index is the ratio of the energy of the multipath component to the energy of the direct path in the channel impulse response.

7. A method for precise positioning of miners and mobile terminal devices, used to achieve the functions of the system described in any one of claims 1-6, characterized in that... The method includes the following steps: The actual baseline distance between at least two UWB signal receivers deployed on both sides of the tunnel is measured and obtained in real time through communication. The UWB signal receiver receives positioning signals transmitted by a UWB signal transmitter carried by miners. Obtain the time difference of arrival of the positioning signal to the two UWB signal receivers; Obtain the received signal strength values ​​of the positioning signal at the two UWB signal receivers; Based on the actual baseline distance, the time difference of arrival, and the received signal strength value, the position coordinates of the UWB signal transmitter are calculated using a weighted centroid positioning algorithm.

8. The method for precise positioning of miners and mobile terminal devices according to claim 1, characterized in that, Walking direction data is sensed by an inertial measurement unit integrated within the UWB signal transmitter; In the step of calculating the position coordinates, the received signal strength value is compensated and corrected based on the walking direction data.

9. The method for precise positioning of miners and mobile terminal devices according to claim 1, characterized in that, Analyze the channel impulse response of the positioning signal to extract multipath interference indicators; In the step of calculating the location coordinates, the weights of the time difference of arrival and the received signal strength value in the weighted centroid positioning algorithm are dynamically adjusted according to the multipath interference index.

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