Blasting seismic source positioning system and method based on MEMS acceleration sensor

Abstract

The invention provides a blasting seismic source positioning system and method based on an MEMS acceleration sensor. The system comprises N sensor modules which are respectively installed at N different monitoring points, N data acquisition units which are respectively connected with the N sensor modules, a data collection and transmission unit which is installed at an acquisition station and is connected with the N data acquisition units, and a cloud server which carries out data communication with the data collection and transmission unit through the Internet. According to the invention, the MEMS three-axis acceleration sensor is adopted to detect blasting vibration signals, and the device has the advantages of small size, low power consumption, high measurement degree and the like. By adopting a multi-point monitoring intersection positioning algorithm, time and wave velocity information are not needed, a data processing method can be simplified, and the seismic source positioning precision can be improved.

Description

Technical Field

[0001] This invention belongs to the field of blasting monitoring and seismic source location technology, specifically relating to a blasting seismic source location system and method based on a MEMS accelerometer sensor. Background Technology

[0002] In open-pit coal mining, blasting is a crucial process for ore body extraction and stripping. However, the vibrations generated during blasting in open-pit coal mines are characterized by their intensity, instantaneous nature, and wide frequency range, significantly impacting mine slope stability, engineering facility safety, and production efficiency. Therefore, effectively monitoring blasting vibrations and predicting their location has become a key technical challenge for ensuring safe mining and high production efficiency.

[0003] Currently, traditional blasting vibration monitoring systems generally use moving-coil velocity sensors as the main measuring element. These sensors rely on the relative motion between the coil and the magnetic field to sense velocity signals, offering a certain level of measurement accuracy and anti-interference capability. However, they suffer from the following drawbacks: large size and complex structure, making them unsuitable for flexible deployment in complex terrains of open-pit mines; high installation requirements, necessitating fixed orientation and stable support, resulting in long deployment cycles; high power consumption and cost, making them unsuitable for large-scale deployment; and a limited response frequency range, exhibiting insufficient sensitivity to high-frequency vibration signals.

[0004] In contrast, MEMS accelerometers, which have been developed in recent years, have significant advantages. Based on microelectromechanical systems (MEMS) technology, these sensors are small in size and highly integrated, and can directly measure vibration acceleration signals. They feature: compact structure and light weight, suitable for rapid installation and concealed deployment; low power consumption and low cost, facilitating the construction of multi-point distributed monitoring networks; wide response frequency and high sensitivity, capable of capturing high-frequency vibration components during blasting processes; and support for digital output and edge processing, facilitating integration with data acquisition systems.

[0005] Existing technologies have not fully utilized MEMS sensors for monitoring blasting vibrations in open-pit coal mines, and existing methods for blasting source localization suffer from problems such as complex algorithms and low localization accuracy. Summary of the Invention

[0006] To address the aforementioned problems in the existing technology, this invention provides a blasting source localization system and method based on a MEMS accelerometer.

[0007] To achieve the above objectives, the present invention adopts the following technical solution.

[0008] In a first aspect, the present invention provides a blast source localization system based on a MEMS accelerometer sensor, comprising: respectively installed on... N Different monitoring points N Each sensor module, respectively withN Connected to a sensor module N One data acquisition unit is installed at the acquisition station and N The data acquisition unit is connected to a data collection and transmission unit, and a cloud server communicates with the data collection and transmission unit via the Internet; the sensor module is a MEMS triaxial accelerometer used to acquire blasting vibration signals and output acceleration in three axes; the data acquisition unit is used to convert the acceleration into digital signals; the data collection and transmission unit is used to receive... N The acceleration data output by each data acquisition unit is transmitted to a cloud server via the Internet. Based on the acceleration output by each sensor module at the moment of blasting and the position coordinates of the sensor module, the cloud server derives the equation of the straight line passing through each sensor module and the seismic source, resulting in a total of... N The equation of the straight line is obtained by solving... N The intersection of the three straight lines gives the coordinates of the earthquake source; where, N ≥3.

[0009] Furthermore, the data acquisition unit includes: a 32-bit AD conversion module connected to the sensor module, a control storage module connected to the 32-bit AD conversion module, a communication control module connected to the control storage module, and a power supply module.

[0010] Furthermore, N Each data acquisition unit adopts an asynchronous acquisition mode, and the data acquired by different data acquisition units do not need to be time-aligned.

[0011] Furthermore, the data acquisition method for the acceleration output by each sensor module at the moment of explosion includes: The sensor module outputs acceleration data in real time, including three axial components. Calculate the acceleration modulus based on the acceleration of the three axial components; When the acceleration modulus value begins to exceed a set threshold, the current acceleration data is stored and output.

[0012] Furthermore, the position coordinates of the sensor module are obtained based on GPS RTK measurement technology.

[0013] Furthermore, through the first i A straight line between the sensor module and the seismic source L i The parametric equation is: (1) (2) In the formula, ( x i , yi , z i () is a straight line L i The coordinates of any point on, ( x 0i , y 0i , z 0i ) is the first i The position coordinates of each sensor module t i For parameter variables, A i =( a i ( x ), a i ( y ), a i ( z )) is the first i The acceleration output by each sensor module at the moment of blasting, | A i |for A i The modulus, i =1,2,..., N .

[0014] Furthermore, methods for determining the coordinates of the earthquake source location include: Establish the objective function F( X ), F( X ) equals any point in space X ( x , y , z )and N straight line L i The sum of squares of the distances is expressed as: (3) (4) (5) In the formula, D ( X , L i ) is a spatial point X ( x , y , z ) and straight line L i distance, I It is a 3-order identity matrix.P i For the first i The position coordinates of each sensor module x 0i , y 0i , z 0i ), v i for A i The normalized vector; By solving for F( X The gradient of ∇F( X ) equal to 0 X The value is obtained to make F( X Take the minimum value X The value is used to obtain the location coordinates of the earthquake source: (6) In the formula, X* The location coordinates of the earthquake source ( x* , y* , z* ).

[0015] Secondly, the present invention provides a method for locating blasting sources using the aforementioned system, comprising the following steps: Step 1, Real-time data collection N The acceleration output by each sensor module; Step 2: Obtain the acceleration output by each sensor module at the moment of blasting. A i , i =1,2,..., N ; Step 3, based on A i Based on the position coordinates of the sensor modules, the equations of the straight lines passing through each sensor module and the seismic source were obtained, resulting in a total of... N The equations of the straight lines; Step 4, through solving N The intersection of the three straight lines gives the location coordinates of the earthquake source.

[0016] Compared with the prior art, the present invention has the following beneficial effects.

[0017] This invention is achieved by setting up separate installations. N Different monitoring points N Each sensor module, respectively with N Connected to a sensor module N One data acquisition unit is installed at the acquisition station and NA data acquisition and transmission unit is connected to a data acquisition unit, and a cloud server communicates with the data acquisition and transmission unit via the Internet. The sensor module is a MEMS triaxial accelerometer used to acquire blasting vibration signals and output acceleration in three axes. The data acquisition unit converts the acceleration into digital signals, and the data collection and transmission unit receives the signals. N The acceleration data output by each data acquisition unit is transmitted to a cloud server via the internet. Based on the acceleration output by each sensor module at the moment of blasting and the position coordinates of that sensor module, the cloud server derives the equation of the straight line passing through each sensor module and the seismic source, resulting in a total of... N The equation of the straight line is obtained by solving... N The intersection of the three straight lines yields the location coordinates of the seismic source, enabling automatic positioning of the blasting source. This invention utilizes a MEMS triaxial accelerometer to detect blasting vibration signals, offering advantages such as small size, low power consumption, and high measurement accuracy. By employing a multi-point monitoring intersection positioning algorithm, it eliminates the need for time and wave velocity information, simplifying data processing and improving seismic source positioning accuracy. Attached Figure Description

[0018] Figure 1 This is a block diagram of a blasting source localization system based on a MEMS accelerometer according to an embodiment of the present invention. In the diagram: 1-sensor module, 2-data acquisition unit, 3-data collection and transmission unit, 4-cloud server.

[0019] Figure 2 This is a schematic diagram of the sensor integrated structure.

[0020] Figure 3 This diagram illustrates two different sensor installation methods.

[0021] Figure 4 For any point in space X to the straight line L i distance D ( X , L i (Solution diagram)

[0022] Figure 5 This is a flowchart illustrating a method for locating a blasting source using the system described in an embodiment of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer and more understandable, the invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0024] Figure 1 This is a block diagram of a blasting source localization system based on a MEMS accelerometer according to an embodiment of the present invention, comprising: respectively installed on... N Different monitoring points N Each sensor module 1, respectively with N One sensor module 1 is connected N One data acquisition unit 2 is installed at the acquisition station and N The data acquisition unit 2 is connected to the data collection and transmission unit 3, and a cloud server 4 communicates with the data collection and transmission unit 3 via the Internet; the sensor module 1 is a MEMS triaxial accelerometer used to collect blasting vibration signals and output acceleration in three axes; the data acquisition unit 2 is used to convert the acceleration into digital signals; the data collection and transmission unit 3 is used to receive... N The acceleration data output by each data acquisition unit 2 is transmitted to the cloud server 4 via the Internet. Based on the acceleration output by each sensor module 1 at the moment of blasting and the position coordinates of the sensor module 1, the cloud server 4 obtains the equation of the straight line passing through each sensor module 1 and the earthquake source, resulting in a total of... N The equation of the straight line is obtained by solving... N The intersection of the three straight lines gives the coordinates of the earthquake source; where, N ≥3.

[0025] In this embodiment, the system mainly consists of N Sensor module 1 N It consists of a data acquisition unit 2, a data collection and transmission unit 3, and a cloud server 4. The connection relationship of each component is as follows: Figure 1 As shown, each component will be explained below.

[0026] Sensor module 1 is primarily used to collect blasting vibration signals. In this embodiment, sensor module 1 employs a MEMS triaxial accelerometer, capable of outputting acceleration components along three axes: east, north, and vertically upward. During installation, the three axes of the sensor must be accurately aligned with the world coordinate system; specific alignment and adjustment methods are not detailed here. The MEMS triaxial accelerometer features a wide frequency response range and low noise characteristics, accurately capturing weak vibration signals and high-frequency components during blasting, significantly improving data quality and analysis reliability. Sensor module 1 is installed underground at various monitoring points, using either buried or surface-mount installation methods, such as... Figure 3 As shown. Embedded installation: The sensor is permanently embedded inside a structure such as concrete, suitable for long-term vibration monitoring; Surface-mount installation: Using magnets embedded in the bottom of a stainless steel base, it is quickly attached to a steel surface for installation, with advantages such as reusability and rapid deployment.

[0027] Data acquisition unit 2 is mainly used to convert the analog acceleration signal output by sensor module 1 into a digital signal and output it to data collection and transmission unit 3. One data acquisition unit 2 is connected to one sensor module 1. In practical applications, sensor module 1 and data acquisition unit 2 are generally integrated together (e.g., Figure 2 The data acquisition unit 2 mainly consists of an analog-to-digital converter. A specific structure of the data acquisition unit 2 will be given in the following embodiments.

[0028] Data collection and transmission unit 3 is mainly used to receive the acceleration data output by each data acquisition unit 2 and send it to cloud server 4 via the Internet. For example... Figure 1 As shown, the input terminal of the data collection and transmission unit 3 is connected to the output terminal of each data acquisition unit 2, which is equivalent to summarizing the acceleration data output by N sensor modules 1 and then sending these data to the cloud server 4. The data collection and transmission unit 3 is installed at the acquisition station, and it can transmit data wirelessly or via wired means to the data acquisition unit 2, such as using a CAN bus.

[0029] Cloud server 4 is mainly used to complete necessary data processing tasks. The main data processing task in this embodiment is to calculate the location of the blast source. In this embodiment, it is assumed that the blast source is an ideal explosion source, and the P-wave (longitudinal wave) it generates is compressive in all directions. Under this assumption, when the P-wave reaches any sensor module 1, the vibration direction of its particles is parallel to the propagation direction of the wave from the source to that sensor module 1. This direction can be obtained from the three axial acceleration components output by sensor module 1 at the moment of blasting (the direction of the acceleration vector composed of the three axial velocity components). Combined with the position coordinates of sensor module 1, the equation of the straight line connecting sensor module 1 and the source can be obtained, resulting in N different straight line equations. Theoretically, all N different straight lines pass through the source, so the position coordinates of the source can be obtained by finding the intersection points of these N different straight lines. The number N of sensor modules 1 depends on the requirements of the intersection positioning algorithm; in this embodiment, the minimum value of N is 3. It is worth noting that the acceleration output by sensor module 1 at the moment of blasting refers to the acceleration output by sensor module 1 when the P wave generated by the seismic source just arrives at the monitoring point, which is the first vibration waveform when the P wave first arrives.

[0030] This embodiment uses the acceleration sensor output to detect the vibration signal generated by the seismic source and the intersection positioning method to calculate the location of the seismic source. Since only the direction of the line connecting the sensor and the seismic source needs to be determined, time and wave velocity parameters are not required. Moreover, the data acquisition from different sensors does not require time alignment, which simplifies the data processing method and improves the accuracy of the seismic source location calculation.

[0031] As an optional embodiment, the data acquisition unit 2 includes: a 32-bit AD conversion module connected to the sensor module 1, a control storage module connected to the 32-bit AD conversion module, a communication control module connected to the control storage module, and a power supply module.

[0032] This embodiment provides a structure for the data acquisition unit 2. The data acquisition unit 2 mainly consists of a 32-bit AD conversion module, a control storage module, a communication control module, and a power supply module. The connection relationships of each module are as follows: Figure 2 As shown, the 32-bit AD conversion module converts the analog acceleration signal output from the acceleration module into a 32-bit digital signal and transmits it to the control and storage module. The control and storage module uses an MCU to coordinate the timing of each module's operation, processing and buffering the acceleration data. The communication control module uses the CAN industrial bus protocol to achieve command and data interaction with external systems. The power supply module provides a stable power supply to each functional module and employs a multi-stage filtering design to ensure signal quality.

[0033] As an optional embodiment, NEach data acquisition unit 2 adopts an asynchronous acquisition mode, and the data acquired by different data acquisition units 2 do not need to be time-aligned.

[0034] This embodiment provides N The data acquisition mode of data acquisition unit 2 is (synchronous / asynchronous mode). In the prior art, data acquisition from different sensors generally adopts synchronous acquisition mode; even in some scenarios where asynchronous acquisition mode is used, the data acquired by different sensors still need to be time-aligned, which complicates the data processing steps. Since the intersection positioning algorithm used in this embodiment does not require time and wave velocity parameters, this embodiment... N Each data acquisition unit 2 adopts an asynchronous acquisition mode, and the data acquired by different data acquisition units 2 do not need to be time-aligned, which greatly simplifies the data processing method.

[0035] As an optional embodiment, the method for acquiring the acceleration data output by each sensor module 1 at the moment of blasting includes: The acceleration output from sensor module 1, including three axial components, is acquired in real time. Calculate the acceleration modulus based on the acceleration of the three axial components; When the acceleration modulus value begins to exceed a set threshold, the current acceleration data is stored and output.

[0036] This embodiment provides a technical solution for obtaining the first vibration waveform at the arrival of the P-wave. This embodiment detects the vibration waveform generated at the moment of blasting based on the strength of the vibration signal, which is the first vibration waveform at the arrival of the P-wave. In this embodiment, the magnitude of the acceleration output by sensor module 1 reflects the strength of the vibration signal. Therefore, the strength of the vibration signal can be determined by calculating the magnitude of the acceleration vector including three axial components. When no blasting occurs, the magnitude is generally very small, not exceeding a set threshold. When blasting occurs, the source generates a very strong vibration signal, causing the magnitude to exceed the set threshold. The collected data at this time is the acceleration data corresponding to the arrival of the P-wave. The duration of the first vibration waveform at the arrival of the P-wave is generally no more than 2 seconds; therefore, only the first 2 seconds of collected data are needed to obtain a complete vibration waveform. The value of the threshold can be determined based on industry experience. Users can adjust the value of the threshold by sending remote commands.

[0037] As an optional embodiment, the position coordinates of the sensor module 1 are obtained based on GPS RTK measurement technology.

[0038] This embodiment presents a technical solution for obtaining the position coordinates of sensor module 1. Since the intersection positioning method requires solving for a straight line passing through sensor module 1 and the seismic source, the position coordinates of sensor module 1 need to be measured beforehand. This embodiment uses GPS RTK measurement technology to measure the position coordinates of sensor module 1 in the world coordinate system, achieving a measurement accuracy down to the centimeter level.

[0039] As an optional embodiment, through the first i A straight line between sensor module 1 and the seismic source L i The parametric equation is: (1) (2) In the formula, ( x i , y i , z i () is a straight line L i The coordinates of any point on, ( x 0i , y 0i , z 0i ) is the first i The position coordinates of sensor module 1 t i For parameter variables, A i =( a i ( x ), a i ( y ), a i ( z )) is the first i The acceleration output by sensor module 1 at the moment of blasting, | A i |for A i The modulus, i =1,2,..., N .

[0040] This embodiment provides an expression for the linear equation passing through sensor module 1 and the earthquake source. This embodiment presents the linear equation passing through sensor module 1 and the earthquake source in the form of parametric equations, specifically equations (1) and (2). In equation (1), t i For the parameter variables of the parametric equation, when their values ​​are the distance between sensor module 1 and the seismic source, (x i , y i , z i ( ) represents the location coordinates of the earthquake source. a i ( x ), a i ( y ), a i ( z )) / | A i |for acceleration A i The normalized vector, whose direction is perpendicular to the straight line passing through sensor module 1 and the seismic source. L i The directions are parallel. The simultaneous equations yield... N The equations of the given lines form a system of equations. Solving this system of equations will yield the result. N The intersection of the three straight lines represents the location coordinates of the earthquake source.

[0041] As an optional embodiment, the method for solving the source location coordinates includes: Establish the objective function F( X ), F( X ) equals any point in space X ( x , y , z )and N straight line L i The sum of squares of the distances is expressed as: (3) (4) (5) In the formula, D ( X , L i ) is a spatial point X ( x , y , z ) and straight line L i distance, I It is a 3-order identity matrix. P i For the first i The position coordinates of sensor module 1 ( x 0i , y0i , z 0i ), v i for A i The normalized vector; By solving for F( X The gradient of ∇F( X ) equal to 0 X The value is obtained to make F( X Take the minimum value X The value is used to obtain the location coordinates of the earthquake source: (6) In the formula, X* The location coordinates of the earthquake source ( x* , y* , z* ).

[0042] This embodiment presents a technical solution for solving the coordinates of the earthquake source location. Theoretically... N straight line L i The intersection points are supposed to be at one point, but in reality, due to noise, there may be more than one intersection point, so an approximation is needed. This embodiment first establishes an objective function F( X Then, by solving the objective function F( X Take the minimum value X The value is used to obtain the coordinates of the earthquake source. Since the earthquake source is... N straight line L i The intersection of the hypocenter and each straight line, theoretically, is the point where the hypocenter intersects with the hypocenter. L i The distances between the epicenter and this are all 0. N The sum of the distances between the three straight lines is also 0. Because in reality... N The number of intersection points of these straight lines is more than one, therefore the epicenter should be located at this point. N The distance between two straight lines and the minimum spatial point. Based on the above analysis, this embodiment establishes the coordinates of any spatial point. X ( x , y , z ) is the independent variable, and the spatial point is the independent variable. X and N straight line L i distance D ( X , L i The sum of squares of (for simplicity, the distance is replaced by the square of the distance) is the objective function of the function F( XThe expression is as shown in equation (3).

[0043] D ( X , L i The expression for ) is as shown in equation (4), where v i for A i The normalized vector, and the line L i The directions are parallel. The derivation of equation (4) is given below based on the knowledge of vectors and matrices. Figure 4 middle, P i Representing the i The sensor module or the first i The location of each monitoring point O i For point X In a straight line L i The projection point on, i.e. O i X Perpendicular to the line L i .from P i point to X vector P i X It can be represented as ( X - P i According to the properties of the dot product of vectors, we can obtain the vector. P i X In a straight line L i Projection vector on P i O i for:

[0044] And vector

[0045]

[0046] Thus, we obtain equation (4).

[0047] By solving for F( X The gradient of ∇F( X ) equal to 0 X The value can be obtained to make F( X Take the minimum valueX Value is the coordinate of the earthquake source. X* . X* The expression is given in equation (6), and the derivation process of equation (6) is given below.

[0048] because

[0049] This is applied

[0050] therefore,

[0051] Setting ∇F(X)=0, we get:

[0052] Since the N lines are not parallel Reversible, therefore

[0053] That is, we get equation (6).

[0054] Figure 5 This is a flowchart of a method for locating a blasting seismic source using the system according to an embodiment of the present invention, including the following steps: Step 101, Real-time data collection N The acceleration output by sensor module 1; Step 102: Obtain the acceleration output by each sensor module 1 at the moment of blasting. A i , i =1,2,..., N ; Step 103, based on A i Based on the position coordinates of sensor module 1, the equations of the straight lines passing through each sensor module 1 and the seismic source were obtained, resulting in a total of... N The equations of the straight lines; Step 104, by solving N The intersection of the three straight lines gives the location coordinates of the earthquake source.

[0055] The method in this embodiment is similar to... Figure 1 The implementation principle and technical effect of the device embodiment shown are similar to those of the other embodiments, and will not be repeated here.

[0056] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A blasting source localization system based on a MEMS accelerometer, characterized in that, include: Installed separately N Different monitoring points N Each sensor module, respectively with N Connected to a sensor module N One data acquisition unit is installed at the acquisition station and N The data acquisition unit is connected to a data collection and transmission unit, and a cloud server communicates with the data collection and transmission unit via the Internet; the sensor module is a MEMS triaxial accelerometer used to acquire blasting vibration signals and output acceleration in three axes; the data acquisition unit is used to convert the acceleration into digital signals; the data collection and transmission unit is used to receive... N The acceleration data output by each data acquisition unit is transmitted to a cloud server via the Internet. Based on the acceleration output by each sensor module at the moment of blasting and the position coordinates of the sensor module, the cloud server derives the equation of the straight line passing through each sensor module and the seismic source, resulting in a total of... N The equation of the straight line is obtained by solving... N The intersection of the three straight lines gives the coordinates of the earthquake source; where, N ≥3.

2. The blast source localization system based on a MEMS accelerometer according to claim 1, characterized in that, The data acquisition unit includes: a 32-bit AD conversion module connected to the sensor module, a control and storage module connected to the 32-bit AD conversion module, a communication control module connected to the control and storage module, and a power supply module.

3. The blast source localization system based on a MEMS accelerometer according to claim 1, characterized in that, N Each data acquisition unit adopts an asynchronous acquisition mode, and the data acquired by different data acquisition units do not need to be time-aligned.

4. The blast source localization system based on a MEMS accelerometer according to claim 3, characterized in that, The data acquisition method for the acceleration output by each sensor module at the moment of blasting includes: The sensor module outputs acceleration data in real time, including three axial components. Calculate the acceleration modulus based on the acceleration of the three axial components; When the acceleration modulus value begins to exceed a set threshold, the current acceleration data is stored and output.

5. The blast source localization system based on a MEMS accelerometer according to claim 3, characterized in that, The position coordinates of the sensor module are obtained based on GPS RTK measurement technology.

6. The blast source localization system based on a MEMS accelerometer according to claim 1, characterized in that, Passing the i A straight line between the sensor module and the seismic source L i The parametric equation is: (1) (2) In the formula, ( x i , y i , z i () is a straight line L i The coordinates of any point on, ( x 0i , y 0i , z 0i ) is the first i The position coordinates of each sensor module t i For parameter variables, A i =( a i ( x ), a i ( y ), a i ( z )) is the first i The acceleration output by each sensor module at the moment of blasting, | A i |for A i The modulus, i =1,2,..., N .

7. The blast source localization system based on a MEMS accelerometer according to claim 6, characterized in that, Methods for determining the coordinates of the earthquake source include: Establish the objective function F( X ), F( X ) equals any point in space X ( x , y , z )and N straight line L i The sum of squares of the distances is expressed as: (3) (4) (5) In the formula, D ( X , L i ) is a spatial point X ( x , y , z ) and straight line L i distance, I It is a 3-order identity matrix. P i For the first i The position coordinates of each sensor module x 0i , y 0i , z 0i ), v i for A i The normalized vector; By finding F( X The gradient F'( X )=0 is 0 X The value is obtained to make F( X Take the minimum value X The value is used to obtain the location coordinates of the earthquake source: (6) In the formula, X* The location coordinates of the earthquake source ( x* , y* , z* ).

8. A method for locating a blasting source using the system described in claim 1, characterized in that, Includes the following steps: Step 1, Real-time data collection N The acceleration output by each sensor module; Step 2: Obtain the acceleration output by each sensor module at the moment of blasting. A i , i =1,2,..., N ; Step 3, based on A i Based on the position coordinates of the sensor modules, the equations of the straight lines passing through each sensor module and the seismic source were obtained, resulting in a total of... N The equations of the straight lines; Step 4, through solving N The intersection of the three straight lines gives the location coordinates of the earthquake source.

Images