UWB positioning system suitable for positioning coal mine vehicle under mine

Abstract

The invention belongs to the technical field of mine Internet of Things and positioning, and particularly relates to a UWB positioning system suitable for positioning a coal mine vehicle under a mine, which comprises a UWB positioning tag and a positioning base station, the UWB positioning label and the positioning base station carry out fusion positioning through inertial navigation and UWB positioning; the UWB positioning tag comprises a first UWB positioning module, a first MCU main control chip, an inertial navigation module, a first system power supply module, a first Bluetooth antenna and a first UWB antenna; the first system power supply module is electrically connected with the first MCU main control chip, and the first MCU main control chip is electrically connected with the first UWB positioning module, the inertial navigation module and the first Bluetooth antenna; the positioning base station comprises a second MCU main control chip, a second UWB positioning module, a FLASH storage chip and an Ethernet module. The positioning tag carries the inertial navigation module and the UWB positioning module, UWB-IMU fusion positioning can be carried out, and the IMU can provide high-frequency motion data, so that the positioning result is smoother and more continuous, and jump is reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mine Internet of Things and positioning, and particularly relates to a UWB positioning system suitable for positioning of a coal mine vehicle in a mine. BACKGROUND

[0002] In the process of mine exploitation, the coal mine vehicle is the core equipment for material transportation, and real-time monitoring of the running track of the coal mine vehicle is the key to ensuring production safety and optimizing scheduling efficiency. The current mainstream mine positioning technology has significant limitations: GPS signals cannot penetrate rock layers and are completely invalid in the mine; the positioning accuracy of RFID is only meter-level, and a large number of card readers need to be deployed; Bluetooth positioning is easily affected by multipath effects, and the error at the corner of the roadway can be more than 5 meters.

[0003] Although the UWB positioning technology has the potential for centimeter-level positioning in indoor environments, it faces multiple challenges in the complex environment of the mine: first, the electromagnetic shielding formed by metal supports and mine equipment in the roadway causes a high UWB signal attenuation rate of up to 80%; second, signal shielding when multiple vehicles intersect can cause 2-3 seconds of positioning interruption; third, traditional UWB devices use a single power supply mode, and the endurance of lithium batteries decreases by 50% in an environment below -10℃, which cannot meet the 24-hour continuous operation requirements of coal mine vehicles.

[0004] For example, a certain coal mine once used a pure UWB positioning system, which caused a 3-meter positioning drift at the intersection of the transportation roadway due to signal reflection, resulting in a scratching accident between two vehicles; another mine caused frequent power outages of the positioning tags due to the low-temperature environment, with an average of 12 times of positioning data interruption per month, which seriously affected the scheduling efficiency. Therefore, it is an urgent need of the industry to develop a coal mine vehicle positioning system with anti-interference capability, environmental adaptability, and reliable power supply. SUMMARY

[0005] In view of the above technical problems of the UWB positioning technology in the complex environment of the mine, the application provides a UWB positioning system suitable for positioning of a coal mine vehicle in a mine.

[0006] To solve the above technical problems, the technical scheme adopted by the application is as follows: The application relates to a UWB positioning system suitable for positioning of a coal mine car in a coal mine, which comprises a UWB positioning tag and a positioning base station; the UWB positioning tag and the positioning base station are fused and positioned through inertial navigation and UWB positioning; the UWB positioning tag comprises a first UWB positioning module, a first MCU main control chip, an inertial navigation module, a first system power supply module, a first Bluetooth antenna and a first UWB antenna; the first system power supply module is electrically connected with the first MCU main control chip; the first MCU main control chip is electrically connected with the first UWB positioning module, the inertial navigation module and the first Bluetooth antenna respectively; and the first UWB positioning module is electrically connected with the first UWB antenna; the positioning base station comprises a second MCU main control chip, a second UWB positioning module, a FLASH memory chip, an Ethernet module, a second system power supply module, a second Bluetooth antenna and a second UWB antenna; the second system power supply module is electrically connected with the second MCU main control chip; the second MCU main control chip is electrically connected with the second UWB positioning module, the FLASH memory chip and the Ethernet module respectively; the second MCU main control chip is electrically connected with the second Bluetooth antenna; and the second UWB positioning module is electrically connected with the second UWB antenna.

[0007] The first system power supply module comprises a lithium battery power supply module and a 12V power supply module; the lithium battery power supply module is electrically connected with the 12V power supply module; the lithium battery power supply module comprises a lithium battery charging circuit, a lithium battery protection circuit and a lithium battery discharging circuit; the lithium battery charging circuit is electrically connected with the lithium battery protection circuit; the lithium battery protection circuit is electrically connected with the lithium battery discharging circuit; the lithium battery discharging circuit is electrically connected with the 12V power supply module; the 12V power supply module is a 12V-to-3.3V circuit; and the 12V-to-3.3V circuit is electrically connected with the first UWB positioning module, the first MCU main control chip and the inertial navigation module respectively; and the second system power supply module adopts a 12V intrinsic safety power supply.

[0008] The first UWB positioning module and the second UWB positioning module both adopt DW1000 chips, have a working frequency band of 3.5GHz-6.5GHz, support a time of flight (TOF) and time difference of arrival (TDOA) hybrid positioning algorithm, and have a ranging accuracy of +10cm.

[0009] The first MCU main control chip and the second MCU main control chip both adopt NRF52 series Bluetooth MCUs, are internally provided with ARMCortex-M4 processors, and have a main frequency of 64MHz; in the UWB positioning tag, the first MCU main control chip is connected with the first UWB positioning module through an SPI interface, and is connected with the inertial navigation module through an I 2 C interface; in the positioning base station, the second MCU main control chip is connected with the FLASH memory chip through an SPI interface, and is connected with the Ethernet module through an SPI interface.

[0010] The inertial navigation module adopts an MPU6050 inertial navigation unit, and contains a 3-axis accelerometer and a 3-axis gyroscope, the 3-axis accelerometer has a range of ±2g / ±4g / ±8g / ±16g, and the 3-axis gyroscope has a range of ±250° / s / ±500° / s / ±1000° / s / ±2000° / s; a sampling rate is 1 kHz, and real-time motion data preprocessing is realized through a digital motion processor (DMP).

[0011] The lithium battery power supply module adopts a 3.7V / 5000mAh lithium polymer battery, a lithium battery charging circuit supports 5V / 1A input, the lithium battery charging circuit contains a power indicator light module, and whether the corresponding indicator light is on or not is used to judge whether the lithium battery is fully charged; the lithium battery protection circuit adopts a CM1003+8205A double-chip protection scheme, the response time is ≤100us, the overcharge protection voltage is 4.25V±0.025V, and the overdischarge protection voltage is 2.8V±0.05V.

[0012] The 12V-to-3.3V circuit adopts a synchronous step-down chip, the conversion efficiency is ≥90%, the output ripple is ≤50mV, 12V±10% wide voltage input is supported, and overcurrent and overtemperature protection functions are possessed.

[0013] The FLASH memory chip has a capacity of ≥16MB, supports SPI interface communication, the erasing and writing times are ≥50,000 times, and the data storage time is ≥10 years, and is used for storing configuration parameters of a positioning base station, a device ID list and positioning data logs.

[0014] The Ethernet module adopts a 10 / 100Mbps adaptive Ethernet chip w5500, supports IEEE802.3 standard, the transformer isolation voltage is ≥2500Vrms, the RJ45 network port has a surge protection function, and can resist ±2kV electrostatic discharge.

[0015] The shells of the UWB positioning tag and the positioning base station adopt flame-retardant ABS materials, the protection level reaches IP65, the working temperature range is -20℃~+60℃, and 10g acceleration impact vibration can be resisted.

[0016] Compared with the prior art, the present application has the beneficial effects that: 1. Multiple power supply modes are possessed: the present application can be powered by a lithium battery and a mine intrinsic safety 12V power supply, so that the tag endurance is significantly enhanced, and a lithium battery charging circuit is provided, thereby reducing the cost and trouble of frequent battery replacement.

[0017] 2. The environmental adaptability is significantly enhanced: the present application adopts an IP65 protection design, can work normally in a dust concentration of 10mg / m 3Stable work in the environment of 95% relative humidity (no condensation); the lithium battery mode endurance can reach 48 hours in the low temperature environment of-20 DEG C, and the 12V intrinsic safety power supply mode supports 24 hours continuous operation, meeting the all-weather operation requirement of the mine.

[0018] 3. Comprehensive guarantee of safety and reliability: the lithium battery protection circuit of the application realizes multiple safety protection, avoids the safety hazard caused by overcharge and overdischarge, the Ethernet module has 2500Vrms isolation protection, prevents data transmission error caused by strong electromagnetic interference in the mine, and the whole conforms to the coal mine safety standard GB3836.1-2010, and can be used in gas mines.

[0019] 4. Improvement of positioning accuracy: the positioning tag of the application is equipped with an inertial navigation module and a UWB positioning module, can perform UWB-IMU fusion positioning, the IMU can provide high-frequency motion data, so that the positioning result is smoother and continuous, and the jump is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only exemplary, and for those skilled in the art, other drawings can be derived from the provided drawings without creative labor.

[0021] The structure, proportion, size, etc. shown in the specification are only used to cooperate with the content disclosed in the specification, to be understood and read by those skilled in the art, and do not define the limiting conditions for the implementation of the application, so they do not have technical substantive significance. Any modification of structure, change of proportion relationship or adjustment of size, without affecting the effect and purpose that the application can produce, should still fall within the scope of the technical content disclosed by the application.

[0022] Figure 1 The module composition block diagram of the UWB positioning tag of the application is shown in the figure; Figure 2 The system power supply module block diagram of the positioning tag of the application is shown in the figure; Figure 3 The module composition block diagram of the positioning base station of the application is shown in the figure.

[0023] Wherein: 1 is a UWB positioning tag, 2 is a positioning base station, 11 is a first UWB positioning module, 12 is a first MCU main control chip, 13 is an inertial navigation module, 14 is a first system power supply module, 15 is a first Bluetooth antenna, 16 is a first UWB antenna, 21 is a second MCU main control chip, 22 is a second UWB positioning module, 23 is a FLASH memory chip, 24 is an Ethernet module, 25 is a second system power supply module, 26 is a second Bluetooth antenna, 27 is a second UWB antenna, 141 is a lithium battery power supply module, 142 is a 12V power supply module, 1411 is a lithium battery charging circuit, 1412 is a lithium battery protection circuit, and 1413 is a lithium battery discharging circuit. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all the embodiments of the present application. These descriptions are only used to further explain the features and advantages of the present application, and are not used to limit the claims of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0025] The specific embodiments of the present application will be described in further detail below with reference to the accompanying drawings and embodiments. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application.

[0026] The terms "first", "second" are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0027] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixed connection, or detachable connection, or integral connection; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0028] As Figure 1As shown, the UWB positioning tag 1 of the embodiment includes a first UWB positioning module 11, a first MCU master chip 12, an inertial navigation module 13, a first system power supply module 14, a first Bluetooth antenna 15, and a first UWB antenna 16. The power supply of the first MCU master chip 12 and each sensor module is provided by the first system power supply module 14.

[0029] The first MCU master chip 12 adopts a NRF52 series Bluetooth master chip, integrates a 2.4 GHz Bluetooth wireless communication function (supports BLE5.0 protocol), and rich peripheral interfaces, carries a 32-bit ARMCortex-M4F processor, has a built-in 512 KB Flash, covers mainstream low-power wireless scenes, has different modes with extremely low power consumption to choose from, and the power consumption in the deep sleep mode is as low as 0.3 μA. Without external Bluetooth chip, the cost is reduced.

[0030] The first UWB positioning module 11 adopts a DW1000 chip of Decawave Company and its peripheral circuit, conforms to the IEEE802.15.4a standard, supports six radio frequency channels from 3.5 to 6.5 GHZ, conforms to the FCC and ETSI UWB spectrum template. Supports 110 kbps, 850 kbps, and 6.8 Mbps three data rates, has a low-power characteristic, the current is 1 μA in the sleep mode, and the current is 50 nA in the deep sleep mode. The first UWB positioning module 11 is connected with the master MCU through an SPI interface, realizes SPI communication, meanwhile, the antenna interface of the DW1000 chip is a differential signal, the differential signal is converted into a single-ended signal through a balun, and a standard antenna interface of 50 Ω is matched. The first UWB positioning module 11 is responsible for transmitting UWB positioning information, can accurately record the time stamp of the data frame transmission and reception, calculates the time of flight of the UWB signal between the UWB positioning tag 1 and the positioning base station 2, and converts the straight-line distance between the two into the straight-line distance between the two through the speed of light.

[0031] The inertial navigation module 13 adopts a MPU6050 six-axis inertial measurement unit, the core integrates a three-axis accelerometer and a three-axis gyroscope, can accurately perceive the linear motion and rotation state of an object. Its built-in 16-bit ADC converts the sensor analog signal into a digital signal, communicates with the first MCU master chip 12 through an I 2 C interface, the communication rate is as high as 400 KHZ, supports multiple low-power modes, the current is 2.5 mA in the normal working mode, and the current is only 5 μA in the sleep mode, which can be awakened by the master MCU sending an I 2 C command. The inertial navigation module 13 transmits the collected original data to the first MCU master chip 12 through I 2 C communication, and the first MCU master chip 12 positions through attitude solving and position calculation services.

[0032] As shown in FIG. 2, the UWB positioning tag 1 is a rectangular box structure, and the first UWB antenna 16 is arranged on the top of the UWB positioning tag 1.Figure 2 As shown, the first system power supply module 14 includes two power supply modes, a lithium battery power supply module 141 and a 12V power supply module 142. Among them, the 12V step-down circuit can use TPS54331 series DC-DC power supply step-down conversion chip, with 3.5V to 28V wide voltage input range, integrated 80mΩ high side MOSFET, can support up to 3A continuous output current.

[0033] In the lithium battery power supply mode, it includes lithium battery charging circuit 1411, lithium battery protection circuit 1412 and lithium battery discharge circuit 1413. The lithium battery discharge circuit 1413 can select TPS63020 high efficiency DC-DC power management chip of Texas Instruments, its input voltage range is 1.8V to 5.5V, its integrated step-up / step-down converter is based on fixed frequency pulse width modulation controller, through synchronous rectification to achieve maximum efficiency, under low load condition, the converter enters power saving mode, the static current is less than 50μA, which can prolong the battery life.

[0034] The lithium battery protection circuit 1412 adopts CM1003+8205A double-chip protection scheme, CM1003 as a special protection IC, responsible for accurately detecting lithium battery fault signals such as overcharge, overdischarge, overcurrent and short circuit; 8205A as a double N-channel MOS tube, responsible for cutting off the circuit when a fault occurs. When the lithium battery is charging, the CM1003 chip will monitor the voltage between the 5th pin VCC and the 6th pin VSS at all times, when this voltage is greater than or equal to the overcharge cutoff voltage and meets the overcharge voltage delay time, the IC will turn off the MOS tube of 8205A through the control of the 3rd pin CO. When discharging, the control IC will also monitor the voltage between the 5th pin VDD and the 6th pin VSS at all times, when this voltage is less than or equal to the overdischarge cutoff voltage and reaches the overdischarge voltage delay time, the control IC will turn off the MOS tube of 8205A through the DO pin. The working current of CM1003 is 1.5μA, the power consumption is very low, which is conducive to prolonging the standby time and service life of the battery.

[0035] The lithium battery charging circuit 1411 can use TP4056 single lithium battery charging management chip, the input voltage range is generally 4.35V to 6.5V, which can adapt to various power inputs, the output voltage is fixed at 4.2V, the precision can reach ±1.5%, the maximum charging current can reach 1A, supports pre-charging-cross-current-constant voltage three-stage charging, can accurately control the lithium battery voltage at 4.2V standard full charge value, after charging, it enters standby mode, the static current is less than 1μA, which will not drag the label endurance. Through the level change of its CHRG pin and STDBY pin to match the double-color LED state indicator lamp (CHRG pin drives red LED, STDBY pin drives green LED), the charging state can be judged according to the brightness.

[0036] The UWB module group of the positioning base station 2 is composed as shown in Figure 3 The second MCU master chip 21 also adopts an NRF52 series single-chip microcomputer, and the second UWB positioning module 22 selects a DW1000 chip and communicates with the second MCU master chip 21 through an SPI mode. The storage module can select a 64 MB NOR FLASH storage chip 23.

[0037] The Ethernet module 24 can select a W5500 Ethernet control chip, which integrates a complete TCP / IP protocol stack, supports 8 independent hardware sockets for simultaneous communication, adopts a standard four-wire SPI interface to communicate with the master MCU, has a theoretical rate of 80 MHZ, and supports SPI Mode 0 and Mode 3. In operation, the RJ45 network port can be connected to the mine industrial Ethernet to push the positioning data (timestamp, vehicle ID, sensor data, etc.) to the monitoring center in real time at a rate of 100 Mbps. When the network is interrupted, the W5500 and the FLASH storage chip are linked to temporarily store the data locally, and automatically supplement the transmission after the network is restored, so as to avoid data loss.

[0038] In actual positioning, the UWB positioning tag 1 can be installed at a specific position on the mine car. The upper computer constructs an underground map according to the position coordinates of all base stations, establishes a base station database containing base station ID and coordinate information of each base station, and then distributes the base station data information to the corresponding base station based on the ID of the positioning base station 2. The UWB positioning tag 1 periodically sends a ranging request to the positioning base station 2. After receiving the request, the positioning base station 2 performs multiple rounds of ranging interaction with the UWB positioning tag 1, obtains a set of TOA data, and uploads the data to the central server after adding a timestamp. The inertial navigation module 13 in the UWB positioning tag 1 collects data such as accelerometer and gyroscope in real time to obtain information such as acceleration and angular velocity of the vehicle. At the same time, the Bluetooth module can be used to broadcast tag battery level and device status information. The central server collects ranging data of multiple base stations, performs preprocessing such as time synchronization and outlier rejection, calculates the coordinates of the tag using an algorithm, and combines the data of the inertial navigation module 13 to perform fusion filtering, to obtain a high-precision positioning result.

[0039] In summary, the embodiment optimizes the hardware architecture and constructs a high-precision positioning system suitable for the complex environment of a mine, which provides key technical support for safe scheduling and path optimization of mine cars, and has significant economic and social benefits.

[0040] The above only describes the preferred embodiment of the present application in detail, but the present application is not limited to the above-mentioned embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the present application, and all the changes shall be included in the protection scope of the present application.

Claims

1. A UWB positioning system suitable for positioning coal mine cars in underground mines, characterized in that: The system includes a UWB positioning tag (1) and a positioning base station (2); the UWB positioning tag (1) and the positioning base station (2) perform fusion positioning through inertial navigation and UWB positioning; the UWB positioning tag (1) includes a first UWB positioning module (11), a first MCU main control chip (12), an inertial navigation module (13), a first system power supply module (14), a first Bluetooth antenna (15), and a first UWB antenna (16); the first system power supply module (14) is electrically connected to the first MCU main control chip (12), the first MCU main control chip (12) is electrically connected to the first UWB positioning module (11), the inertial navigation module (13), and the first Bluetooth antenna (15), respectively, and the first UWB positioning module (11) is electrically connected to the first UWB antenna (16); the positioning base station (2) includes a second MCU The system includes a main control chip (21), a second UWB positioning module (22), a FLASH storage chip (23), an Ethernet module (24), a second system power supply module (25), a second Bluetooth antenna (26), and a second UWB antenna (27). The second system power supply module (25) is electrically connected to the second MCU main control chip (21). The second MCU main control chip (21) is electrically connected to the second UWB positioning module (22), the FLASH storage chip (23), and the Ethernet module (24), respectively. The second MCU main control chip (21) is electrically connected to the second Bluetooth antenna (26), and the second UWB positioning module (22) is electrically connected to the second UWB antenna (27).

2. The UWB positioning system for locating coal mine cars in underground mines according to claim 1, characterized in that: The first system power supply module (14) includes a lithium battery power supply module (141) and a 12V power supply module (142). The lithium battery power supply module (141) is electrically connected to the 12V power supply module (142). The lithium battery power supply module (141) includes a lithium battery charging circuit (1411), a lithium battery protection circuit (1412), and a lithium battery discharging circuit (1413). The lithium battery charging circuit (1411) is electrically connected to the lithium battery protection circuit (1412). The battery protection circuit (1412) is electrically connected to the lithium battery discharge circuit (1413); the lithium battery discharge circuit (1413) is electrically connected to the 12V power supply module (142), the 12V power supply module (142) is a 12V to 3.3V circuit, the 12V to 3.3V circuit is electrically connected to the first UWB positioning module (11), the first MCU main control chip (12), and the inertial navigation module (13) respectively; the second system power supply module (25) adopts a 12V intrinsically safe power supply.

3. The UWB positioning system for locating coal mine cars in underground mines according to claim 1, characterized in that: Both the first UWB positioning module (11) and the second UWB positioning module (22) use the DW1000 chip, with a working frequency band of 3.5GHz-6.5GHz. They support a hybrid positioning algorithm combining Time of Flight (TOF) and Time Difference of Arrival (TDOA), and the ranging accuracy reaches ±10cm.

4. The UWB positioning system for locating coal mine cars in underground mines according to claim 1, characterized in that: Both the first MCU main control chip (12) and the second MCU main control chip (21) use NRF52 series Bluetooth MCUs, with a built-in ARM Cortex-M4 processor and a main frequency of 64MHz; in the UWB positioning tag (1) via I 2 The MPU6050 inertial navigation unit is connected via the C interface, and the first UWB positioning module (11) is connected via the SPI interface. In the positioning base station (2), the FLASH storage chip (23) is connected via the SPI interface, and the Ethernet module (24) is connected via the SPI interface.

5. A UWB positioning system for locating coal mine cars in underground mines according to claim 1, characterized in that: The inertial navigation module (13) uses an MPU6050 inertial navigation unit, which includes a 3-axis accelerometer and a 3-axis gyroscope. The range of the 3-axis accelerometer is ±2g / ±4g / ±8g / ±16g, and the range of the 3-axis gyroscope is ±250° / s / ±500° / s / ±1000° / s / ±2000° / s. The sampling rate is 1kHz, and real-time motion data preprocessing is achieved through a digital motion processor (DMP).

6. A UWB positioning system for locating coal mine cars in underground mines according to claim 2, characterized in that: The lithium battery power supply module (141) uses a 3.7V / 5000mAh lithium polymer battery. The lithium battery charging circuit (1411) supports 5V / 1A input. The lithium battery charging circuit (1411) includes a power indicator module. The battery is fully charged by checking whether the corresponding indicator is lit. The lithium battery protection circuit (1412) adopts a CM1003+8205A dual-chip protection scheme with a response time ≤100μs, an overcharge protection voltage of 4.25V±0.025V, and an over-discharge protection voltage of 2.8V±0.05V.

7. A UWB positioning system for locating coal mine cars in underground mines according to claim 2, characterized in that: The 12V to 3.3V circuit uses a synchronous buck converter chip with a conversion efficiency of ≥90%, output ripple of ≤50mV, supports a wide voltage input of 12V±10%, and has overcurrent and overtemperature protection functions.

8. A UWB positioning system for locating coal mine cars in underground mines according to claim 1, characterized in that: The FLASH storage chip (23) has a capacity of ≥16MB, supports SPI interface communication, has a write / erase cycle of ≥50,000 times, and a data retention time of ≥10 years. It is used to store the configuration parameters of the positioning base station, the device ID list, and the positioning data log.

9. A UWB positioning system for locating coal mine cars in underground mines according to claim 1, characterized in that: The Ethernet module (24) uses a 10 / 100Mbps adaptive Ethernet chip w5500, supports the IEEE802.3 standard, has a transformer isolation voltage ≥2500Vrms, and the RJ45 network port has surge protection function and can withstand ±2kV electrostatic discharge.

10. A UWB positioning system for locating coal mine cars in underground mines according to claim 1, characterized in that: The outer shell of the UWB positioning tag (1) and the positioning base station (2) is made of flame-retardant ABS material, with a protection level of IP65, an operating temperature range of -20℃ to +60℃, and can withstand impact vibration with an acceleration of 10g.

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