基于WiFi和计时误差抑制的TOA煤矿井下目标定位方法
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摘要
针对现有煤矿井下目标定位方法精度不能满足应急救援、井下人员作业管理以及煤矿物联网建设对精确定位的需要,提出基于TOA(Time of Arrival)的煤矿井下目标精确定位方法。针对TOA方法用于目标定位受设备计时误差影响较大,井下巷道呈一维条状分布,无法采用地面常用的二维、三维抑制误差算法,提出基于计时误差抑制的TOA煤矿井下目标定位方法,建立双路WiFi(Wireless Fidelity)信道+单路光纤信道的一维定位方法和信号收发计时方式,在此基础上提出计时误差抑制算法。测试结果证明计时误差抑制算法在采用此定位方法基础上,有效地抑制了设备计时误差造成的测距误差,实测误差不影响定位精度,验证了此方法的定位性能。
As the precision of the existing target positioning methods for underground coal mine can not meet the requirements of emergency rescue and operation management of underground personnel as well as the requirements for accurate positioning of the construction of coal mine-related internet of things,a precise positioning method based on TOA(Time of Arrival)was proposed. As for the impact from equipment timing errors upon the target positioning by TOA method and the failure of two-dimensional or three-dimensional error suppression algorithms commonly used on the ground due to the one-dimensional strip distribution in the tunnel,the TOA target positioning method for underground coal mine based on timing error suppression was proposed,to establish the one-dimensional positioning method and signal transceiving timing method with two-way WiFi(Wireless Fidelity)channel+one-way fiber channel,and on such basis,the timing error suppression algorithm was put forward. The test results prove that such algorithm based on the positioning method in this paper effectively suppresses the ranging error caused by the equipment timing error,and the actually-measured error does not affect the positioning accuracy,which verifies the positioning performance of this method.
As the precision of the existing target positioning methods for underground coal mine can not meet the requirements of emergency rescue and operation management of underground personnel as well as the requirements for accurate positioning of the construction of coal mine-related internet of things,a precise positioning method based on TOA(Time of Arrival)was proposed. As for the impact from equipment timing errors upon the target positioning by TOA method and the failure of two-dimensional or three-dimensional error suppression algorithms commonly used on the ground due to the one-dimensional strip distribution in the tunnel,the TOA target positioning method for underground coal mine based on timing error suppression was proposed,to establish the one-dimensional positioning method and signal transceiving timing method with two-way WiFi(Wireless Fidelity)channel+one-way fiber channel,and on such basis,the timing error suppression algorithm was put forward. The test results prove that such algorithm based on the positioning method in this paper effectively suppresses the ranging error caused by the equipment timing error,and the actually-measured error does not affect the positioning accuracy,which verifies the positioning performance of this method.
引文
[1]孙继平.煤矿物联网特点与关键技术研究[J].煤炭学报,2011,36(1):167-171.Sun Jiping.Research on characteristics and key technology in coal mine internet of things[J].Journal of China Coal Society,2011,36(1):167-171.
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[3]孙继平.煤矿安全监控系统联网技术研究[J].煤炭学报,2009,34(11):1546-1549.Sun Jiping.Networking technology for safety supervision system in a coal mine[J].Journal of China Coal Society,2009,34(11):1546-1549.
[4]孙继平.安全高效矿井监控关键技术研究[J].工矿自动化,2012(12):1-5.Sun Jiping.Research of key technologies for mine safety and efficiency monitoring[J].Industry of Mine Automation,2012(12):1-5.
[5]孙继平.煤矿井下安全避险“六大系统”的作用和配置方案[J].工矿自动化,2010(11):1-4.Sun Jiping.Effect and configuration of"six systems"for safe act of rescue of coal mine underground[J].Industry and Mine Automation,2010(11):1-4.
[6]乔钢柱,曾建潮.信标节点链式部署的井下无线传感器网络定位算法[J].煤炭学报,2010,35(7):1229-1233.Qiao Gangzhu,Zeng Jianchao.Localization algorithm of beacon nodes chain deployment based on coalmine underground wireless sensor networks[J].Journal of China Coal Society,2010,35(7):1229-1233.
[7]Chan Yiutong,Tsui Wing-yue.Time-of-arrival based localization under NLOS conditions[J].IEEE Trans.Vehicular Technology,2006,55(1):17-24.
[8]杨天池,金梁.基于坐标平移不变性的TOA定位算法[J].电子学报,2008,36(9):1848-1851.Yang Tianchi,Jin Liang.The TOA position algorithm based on coordinate shift invariance[J].Acta Electronica Sinica,2008,36(9):1848-1851.
[9]张华,宋正勋,石云,等.基于超宽带的TOA定位技术研究[J].吉林大学学报(信息科学版),2008,26(1):106-110.Zhang Hua,Song Zhengxun,Shi Yun,et al.Research of TOA Ranging technology based on UWB[J].Journal of Jilin University(Information Science Edition),2008,26(1):106-110.
[10]孙继平,樊京.井下主动超声定位系统[J].煤炭学报,2009,34(7):993-996.Sun Jiping,Fan Jing.Active ultrasonic location system in mine tunnel[J].Journal of China Coal Society,2009,34(7):993-996.
[11]刘平,李国民.一种用于井下人员定位的TOA定位算法研究[J].西安科技大学学报,2007,27(3):439-442.Liu Ping,Li Guomin.A TOA-based people locating algorithm in coalmine[J].Journal of Xi’an University of Science and Technology,2007,27(3):439-442.
[12]包建军,霍振龙,徐炜,等.一种高精度井下人员无线定位方法[J].工矿自动化,2009(10):18-21.Bao Jianjun,Huo Zhenlong,Xu Wei,et al.A wireless location method with high precision for underground personnel tracking[J].Industry and Mine Automation,2009(10):18-21.
[13]刘世森,汤明朝,吴畏.无线传感器网络的TOA测距方法研究[J].工矿自动化,2012(3):31-35.Liu Shisen,Tang Mingchao,Wu Wei.Research of TOA ranging method in wireless sensor network[J].Industry and Mine Automation,2012(3):31-35.
[14]IEEE standard for information technology-telecommunications and information exchange between systems-local and metropolitan area networks-specific requirements-Part 11:Wireless LAN Medium Access Control(MAC)and Physical Layer(PHY)specifications[S].IEEE Std 802.11-2007.2007.
[15]张玉,杨维.矿井巷道综合衰减模型与无线传输误码率性能综合比较[J].煤炭学报,2011,36(9):1581-1586.Zhang Yu,Yang Wei.Integrated attenuation model and BER performance analysis of typical wireless transmission technologies in mine tunnel[J].Journal of China Coal Society,2011,36(9):1581-1586.
[16]孙继平.矿井移动通信的现状及关键科学技术问题[J].工矿自动化,2009(7):110-114.Sun Jiping.Present situation and key problems of science and technology of mine mobile communication[J].Industry and Mine Automation,2009(7):110-114.
[17]尚伟,胡彧.基于WiFi的矿用移动定位服务终端设计[J].工矿自动化,2012(10):37-42.Shang Wei,Hu Yu.Design of mine-used location-based services Terminal Based on WiFi[J].Industry and Mine Automation,2012(10):37-42.
[2]孙继平.煤矿安全生产监控与通信技术[J].煤炭学报,2010,35(11):1926-1929.Sun Jiping.Technologies of monitoring and communication in the coal mine[J].Journal of China Coal Society,2010,35(11):1926-1929.
[3]孙继平.煤矿安全监控系统联网技术研究[J].煤炭学报,2009,34(11):1546-1549.Sun Jiping.Networking technology for safety supervision system in a coal mine[J].Journal of China Coal Society,2009,34(11):1546-1549.
[4]孙继平.安全高效矿井监控关键技术研究[J].工矿自动化,2012(12):1-5.Sun Jiping.Research of key technologies for mine safety and efficiency monitoring[J].Industry of Mine Automation,2012(12):1-5.
[5]孙继平.煤矿井下安全避险“六大系统”的作用和配置方案[J].工矿自动化,2010(11):1-4.Sun Jiping.Effect and configuration of"six systems"for safe act of rescue of coal mine underground[J].Industry and Mine Automation,2010(11):1-4.
[6]乔钢柱,曾建潮.信标节点链式部署的井下无线传感器网络定位算法[J].煤炭学报,2010,35(7):1229-1233.Qiao Gangzhu,Zeng Jianchao.Localization algorithm of beacon nodes chain deployment based on coalmine underground wireless sensor networks[J].Journal of China Coal Society,2010,35(7):1229-1233.
[7]Chan Yiutong,Tsui Wing-yue.Time-of-arrival based localization under NLOS conditions[J].IEEE Trans.Vehicular Technology,2006,55(1):17-24.
[8]杨天池,金梁.基于坐标平移不变性的TOA定位算法[J].电子学报,2008,36(9):1848-1851.Yang Tianchi,Jin Liang.The TOA position algorithm based on coordinate shift invariance[J].Acta Electronica Sinica,2008,36(9):1848-1851.
[9]张华,宋正勋,石云,等.基于超宽带的TOA定位技术研究[J].吉林大学学报(信息科学版),2008,26(1):106-110.Zhang Hua,Song Zhengxun,Shi Yun,et al.Research of TOA Ranging technology based on UWB[J].Journal of Jilin University(Information Science Edition),2008,26(1):106-110.
[10]孙继平,樊京.井下主动超声定位系统[J].煤炭学报,2009,34(7):993-996.Sun Jiping,Fan Jing.Active ultrasonic location system in mine tunnel[J].Journal of China Coal Society,2009,34(7):993-996.
[11]刘平,李国民.一种用于井下人员定位的TOA定位算法研究[J].西安科技大学学报,2007,27(3):439-442.Liu Ping,Li Guomin.A TOA-based people locating algorithm in coalmine[J].Journal of Xi’an University of Science and Technology,2007,27(3):439-442.
[12]包建军,霍振龙,徐炜,等.一种高精度井下人员无线定位方法[J].工矿自动化,2009(10):18-21.Bao Jianjun,Huo Zhenlong,Xu Wei,et al.A wireless location method with high precision for underground personnel tracking[J].Industry and Mine Automation,2009(10):18-21.
[13]刘世森,汤明朝,吴畏.无线传感器网络的TOA测距方法研究[J].工矿自动化,2012(3):31-35.Liu Shisen,Tang Mingchao,Wu Wei.Research of TOA ranging method in wireless sensor network[J].Industry and Mine Automation,2012(3):31-35.
[14]IEEE standard for information technology-telecommunications and information exchange between systems-local and metropolitan area networks-specific requirements-Part 11:Wireless LAN Medium Access Control(MAC)and Physical Layer(PHY)specifications[S].IEEE Std 802.11-2007.2007.
[15]张玉,杨维.矿井巷道综合衰减模型与无线传输误码率性能综合比较[J].煤炭学报,2011,36(9):1581-1586.Zhang Yu,Yang Wei.Integrated attenuation model and BER performance analysis of typical wireless transmission technologies in mine tunnel[J].Journal of China Coal Society,2011,36(9):1581-1586.
[16]孙继平.矿井移动通信的现状及关键科学技术问题[J].工矿自动化,2009(7):110-114.Sun Jiping.Present situation and key problems of science and technology of mine mobile communication[J].Industry and Mine Automation,2009(7):110-114.
[17]尚伟,胡彧.基于WiFi的矿用移动定位服务终端设计[J].工矿自动化,2012(10):37-42.Shang Wei,Hu Yu.Design of mine-used location-based services Terminal Based on WiFi[J].Industry and Mine Automation,2012(10):37-42.