阅读说明：本技术 基于一维地图的煤矿隧道定位方法 (Coal mine tunnel positioning method based on one-dimensional map ) 是由 汪正东 林权威 房宏 于 2019-09-25 设计创作，主要内容包括：本发明公开了一种基于一维地图的煤矿隧道定位方法,包括：根据煤矿隧道的真实地理环境构建由若干个线段拓扑组成的一维地图,每个线段代表一段无分岔的巷道；生成基站对应于一维地图的坐标；采集定位标签与其中两个或者多个基站交互的数据报文,根据数据报文计算得到定位标签与每个所述基站的巷道长度,获取一维地图上定位标签对应于每个所述基站的多个移动路径的终点坐标；比对多个终点坐标以获取聚合交点,将该聚合交点作为所述定位标签在一维地图上的位置坐标。本发明能够突破煤矿隧道环境对二维地图构图的限制,更利于引擎构造地图,变化后的坐标表示方法大大减少引擎的计算量,从原先的画圆计算交点计算方式变化为加减法计算。(The invention discloses a coal mine tunnel positioning method based on a one-dimensional map, which comprises the following steps: constructing a one-dimensional map consisting of a plurality of line segment topologies according to the real geographic environment of the coal mine tunnel, wherein each line segment represents a section of non-forked roadway; generating coordinates of the base station corresponding to the one-dimensional map; acquiring data messages of interaction between a positioning label and two or more base stations, calculating the length of a roadway between the positioning label and each base station according to the data messages, and acquiring the end point coordinates of a plurality of moving paths of the positioning label corresponding to each base station on a one-dimensional map; and comparing the coordinates of the plurality of end points to obtain a convergence point, and taking the convergence point as the position coordinate of the positioning label on the one-dimensional map. The invention can break through the restriction of the coal mine tunnel environment on the two-dimensional map composition, is more beneficial to the construction of a map by an engine, greatly reduces the calculation amount of the engine by the changed coordinate representation method, and changes the original circle-drawing calculation intersection point calculation mode into addition and subtraction calculation.)

1. A coal mine tunnel positioning method based on a one-dimensional map is characterized by comprising the following steps:

s1: constructing a one-dimensional map according to the real geographic environment of the coal mine tunnel, wherein the one-dimensional map is composed of a plurality of line segment topologies, each line segment has an independent line segment number, a line segment length, a line segment starting point and a line segment ending point, and each line segment represents a roadway without bifurcation;

s2: generating a coordinate of the base station corresponding to the one-dimensional map, wherein the coordinate comprises two parameters of a line segment number and an offset, and the offset is the length of a roadway between the position of the base station and the starting point of the line segment of the base station;

s3: acquiring data messages of interaction between a positioning label and two or more base stations, calculating the length of a roadway between the positioning label and each base station according to the data messages, and obtaining the end point coordinates of a plurality of moving paths of the positioning label corresponding to each base station on a one-dimensional map by taking each base station as a moving starting point and combining the corresponding length of the roadway;

s4: and comparing the coordinates of the plurality of end points to obtain a convergence point, and taking the convergence point as the position coordinate of the positioning label on the one-dimensional map.

2. The method for positioning the coal mine tunnel based on the one-dimensional map as claimed in claim 1, wherein the positioning method further comprises:

acquiring a real three-dimensional map of the coal mine tunnel, and establishing a corresponding relation between the real three-dimensional map and a one-dimensional map;

and mapping the position coordinates of the positioning labels on the one-dimensional map to a real three-dimensional map, and acquiring the position coordinates of the positioning labels on the real three-dimensional map.

3. The coal mine tunnel positioning method based on the one-dimensional map as claimed in claim 1, wherein in step S1, the construction of the one-dimensional map according to the real geographic environment of the coal mine tunnel is based on the following principle:

for a circular roadway, the circular roadway is cut into two interconnected line segments.

4. The coal mine tunnel positioning method based on the one-dimensional map as claimed in claim 1, wherein in step S1, the constructing the one-dimensional map according to the real geographic environment of the coal mine tunnel includes:

and acquiring the starting point of each line segment and the associated characteristics of the line segments connected with the starting point, acquiring the end point of each line segment and the associated characteristics of the line segments connected with the end point, and establishing an associated characteristic database.

5. The method for positioning the coal mine tunnel based on the one-dimensional map as claimed in claim 1, wherein the positioning method further comprises:

taking at least two positioning base stations as a group of base station groups, wherein the distance between the positioning base stations of each base station group is smaller than a set distance threshold, and setting the overlapping coverage area of all the positioning base stations of the base station group as the positioning coverage area of the base station group;

and a plurality of base station groups are distributed along the extending direction of the roadway, the roadway is a long and narrow space, the width of the roadway is ignored, the roadway is regarded as a one-dimensional space, and the distance between any two base station groups is smaller than the sum of the radiuses of the positioning coverage areas of the two base station groups.

6. The method for coal mine tunnel positioning based on the one-dimensional map as claimed in claim 5, wherein the set distance threshold is 10 meters.

7. The method for positioning the coal mine tunnel based on the one-dimensional map as claimed in claim 5, wherein the step of arranging a plurality of base station groups distributed along the extending direction of the roadway comprises the following steps:

each base station group corresponds to only a part or all of the area of one of the lanes without bifurcation.

8. The method for positioning the coal mine tunnel based on the one-dimensional map as claimed in claim 5, wherein the step of arranging a plurality of base station groups distributed along the extending direction of the roadway comprises the following steps:

the base station group is divided into two parts, wherein the base station group of one part only corresponds to a part or all of the area of one of the lanes without bifurcation, and the base station group of the other part corresponds to a part of the area of one of the lanes without bifurcation and the inflection point area of the other lane connected with the lane.

9. The coal mine tunnel positioning method based on the one-dimensional map as claimed in claim 8, wherein the length of the inflection point region is 30 meters.

Technical Field

The invention relates to the technical field of coal mine tunnel positioning, in particular to a coal mine tunnel positioning method based on a one-dimensional map.

Background

In conventional two-dimensional positioning, including currently popular navigation (such as google maps, etc.), the actual position relationship is shown according to a certain proportion. Fig. 1 is a schematic diagram of a two-dimensional positioning map of an office area, which is manufactured in a certain proportion by using CAD, and the positions of a base station and a label are marked in the map. This approach is intuitive to observe and knows the location of the target object at a glance. Taking the positioning map of the office area as an example, it is possible to extract a map by constructing a CAD drawing during composition. If no CAD drawing is constructed, the dimension of the whole area can be measured by a measuring tape by taking a certain position as an origin to perform patterning, and the area has the same height and a clear relative position relationship, so that the patterning is easy to realize. With reference to fig. 2, in actual calculation, the distance measurement distance between the tag and the base station may be completely centered on the distance measurement base station, and the radius of the distance measurement distance between the tag and the base station may be drawn as a circle.

However, the above solutions are not applicable to coal mine areas for two reasons:

first, it comes from the difficulty in patterning. In the coal mine tunnel environment, because the underground, can't be like after ground can select a coordinate origin, other positions all describe based on this origin. The tunnel under the coal mine is long in distance (several kilometers and dozens of kilometers), bent, staggered back and forth, slowly sloped, inclined shaft and spirally advanced. With depth, the positional relationship with the origin cannot be accurately calculated. And most do not have accurate construction CAD drawings. Therefore, the coal mine tunnel graph is difficult to construct according to the original two-dimensional map composition mode.

Second, in the tunnel, there is a bend in the tunnel. Unlike the ground, when the tag and the base station are shielded, most of the electromagnetic signal is diffracted or penetrated, and a small part of the electromagnetic signal is reflected, and the distance measured by diffraction or penetration is basically close to the straight distance, but the distance measured by reflection is larger than the straight distance. In a tunnel, walls are not transparent and cannot be diffracted, so the distance measurement in the tunnel is basically reflected, so the distance measurement is more like the length of a curve walking along the tunnel, and not the straight distance between a tag and a base station. It is not possible to calculate the intersection point of a plurality of circles by using the distance measurement as a circle as described above.

Disclosure of Invention

The invention aims to provide a coal mine tunnel positioning method based on a one-dimensional map, which adopts a plurality of line segment topologies to form the one-dimensional map of a coal mine tunnel, each line segment represents a section of roadway without bifurcation, the drawing method of the one-dimensional map can break through the limitation of the coal mine tunnel environment on the composition of a two-dimensional map, is more beneficial to an engine to construct the map, can clearly draw a topographic map in the coal mine tunnel on one hand, and is suitable for curves, ramps, spiral terrains and the like, and on the other hand, when the topographic environment in the coal mine tunnel changes, the topographic map is easy to modify; the position coordinates of the base station and the label comprise two parameters of a line segment number and an offset, the positions of the base station and the label are visually expressed by combining a one-dimensional map, in addition, the calculation amount of an engine is greatly reduced by a changed coordinate representation method, the calculation mode of calculating an intersection point from an original circle drawing is changed into addition and subtraction calculation, meanwhile, the curve length of electromagnetic signals continuously reflected can be obtained based on data messages, then, the more accurate roadway length between the label and the base station is obtained through calculation, the positioning precision is higher, and the method is suitable for application occasions of signal transmission depending on reflection, such as coal mine tunnels and the like.

In order to achieve the above object, with reference to fig. 3, the present invention provides a coal mine tunnel positioning method based on a one-dimensional map, where the positioning method includes:

s1: constructing a one-dimensional map according to the real geographic environment of the coal mine tunnel, wherein the one-dimensional map is composed of a plurality of line segment topologies, each line segment has an independent line segment number, a line segment length, a line segment starting point and a line segment ending point, and each line segment represents a roadway without bifurcation;

s2: generating a coordinate of the base station corresponding to the one-dimensional map, wherein the coordinate comprises two parameters of a line segment number and an offset, and the offset is the length of a roadway between the position of the base station and the starting point of the line segment of the base station;

s3: acquiring data messages of interaction between a positioning label and two or more base stations, calculating the length of a roadway between the positioning label and each base station according to the data messages, and obtaining the end point coordinates of a plurality of moving paths of the positioning label corresponding to each base station on a one-dimensional map by taking each base station as a moving starting point and combining the corresponding length of the roadway;

s4: and comparing the coordinates of the plurality of end points to obtain a convergence point, and taking the convergence point as the position coordinate of the positioning label on the one-dimensional map.

In a further embodiment, the positioning method further includes:

acquiring a real three-dimensional map of the coal mine tunnel, and establishing a corresponding relation between the real three-dimensional map and a one-dimensional map;

and mapping the position coordinates of the positioning labels on the one-dimensional map to a real three-dimensional map, and acquiring the position coordinates of the positioning labels on the real three-dimensional map.

In a further embodiment, in step S1, the building of the one-dimensional map according to the real geographic environment of the coal mine tunnel is based on the following principle:

for a circular roadway, the circular roadway is cut into two interconnected line segments.

In a further embodiment, in step S1, the constructing the one-dimensional map according to the real geographic environment of the coal mine tunnel includes:

and acquiring the starting point of each line segment and the associated characteristics of the line segments connected with the starting point, acquiring the end point of each line segment and the associated characteristics of the line segments connected with the end point, and establishing an associated characteristic database.

In a further embodiment, the positioning method further includes:

taking at least two positioning base stations as a group of base station groups, wherein the distance between the positioning base stations of each base station group is smaller than a set distance threshold, and setting the overlapping coverage area of all the positioning base stations of the base station group as the positioning coverage area of the base station group;

and a plurality of base station groups are distributed along the extending direction of the roadway, the roadway is a long and narrow space, the width of the roadway is ignored, the roadway is regarded as a one-dimensional space, and the distance between any two base station groups is smaller than the sum of the radiuses of the positioning coverage areas of the two base station groups.

In a further embodiment, the set distance threshold is 10 meters.

In a further embodiment, the distributing and setting a plurality of base station groups along the extending direction of the roadway includes:

each base station group corresponds to only a part or all of the area of one of the lanes without bifurcation.

In a further embodiment, the distributing and setting a plurality of base station groups along the extending direction of the roadway includes:

the base station group is divided into two parts, wherein the base station group of one part only corresponds to a part or all of the area of one of the lanes without bifurcation, and the base station group of the other part corresponds to a part of the area of one of the lanes without bifurcation and the inflection point area of the other lane connected with the lane.

In a further embodiment, the length of the inflection zone is 30 meters.

Compared with the prior art, the technical scheme of the invention has the following remarkable beneficial effects:

(1) the method for drawing the one-dimensional map can break through the limitation of the coal mine tunnel environment on the composition of the two-dimensional map, is more beneficial to constructing the map by an engine, can clearly draw the topographic map in the coal mine tunnel on one hand, is not limited to a straight tunnel, is suitable for curves, ramps, spiral terrains and the like, and on the other hand, is easy to modify the topographic map when the topographic environment in the coal mine tunnel changes.

(2) The position coordinates of the base station and the label comprise two parameters of line segment numbers and offset, and the positions of the base station and the label are visually expressed by combining a one-dimensional map.

(3) In addition, the changed coordinate representation method greatly reduces the calculation amount of an engine, and changes the original circle-drawing calculation intersection point calculation mode into an addition and subtraction calculation mode.

(4) Meanwhile, the length of the curve of the electromagnetic signal which is continuously reflected can be obtained based on the data message, then the more accurate tunnel length between the label and the base station can be obtained through calculation, the positioning precision is higher, and the method and the device are suitable for application occasions such as coal mine tunnels which rely on reflection to transmit signals.

It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.

The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.

Drawings

The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:

FIG. 1 is a flow chart of the method of the present invention.

Fig. 2 is a flow chart of a method of the present invention.

Fig. 3 is a flow chart of a method of the present invention.

Fig. 4 is a schematic diagram of tag and 2 neighboring base station ranging.

Fig. 5 is a schematic diagram of tag and 2 base stations with large distances.

Fig. 6 is a schematic diagram of a new one-dimensional map drawn based on the connection relationship between the lengths of the lanes and the lanes.

Fig. 7 is a schematic diagram of tag location calculation based on a one-dimensional map.

Detailed Description

In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.

With reference to fig. 3, the present invention provides a coal mine tunnel positioning method based on a one-dimensional map, wherein the positioning method includes:

s1: the method comprises the steps of constructing a one-dimensional map according to the real geographic environment of the coal mine tunnel, wherein the one-dimensional map is composed of a plurality of line segment topologies, each line segment has an independent line segment number, a line segment length, a line segment starting point and a line segment ending point, and each line segment represents a roadway without bifurcation.

S2: and generating a coordinate of the base station corresponding to the one-dimensional map, wherein the coordinate comprises two parameters of a line segment number and an offset, and the offset is the length of a roadway between the position of the base station and the starting point of the line segment of the base station.

S3: acquiring data messages of interaction between a positioning label and two or more base stations, calculating the length of a roadway between the positioning label and each base station according to the data messages, and obtaining the end point coordinates of a plurality of moving paths of the positioning label corresponding to each base station on a one-dimensional map by taking each base station as a moving starting point and combining the corresponding roadway length, wherein the end point coordinates comprise two parameters of line segment numbers and offset;

s4: and comparing the coordinates of the plurality of end points to obtain a convergence point, and taking the convergence point as the position coordinate of the positioning label on the one-dimensional map.

Each step of the foregoing positioning method is explained in detail below with reference to specific examples.

Step one, constructing a one-dimensional map and acquiring coordinates of a base station

There are many methods for the tag to measure the distance in the tunnel, but generally, at least two base stations are required to determine the specific location of a tag.

First distance measurement method

As shown in fig. 4, the tag and 2 neighboring base stations range, since the radio frequency paths are the same, the ranging distances from a1 and a2 are both larger, but the difference is correct. According to the original one-dimensional processing, the positioning point is on the straight line of 2 base stations, which is not the case in practice.

Second distance measuring method

As in fig. 5, the tag ranges to 2 more distant base stations. Due to the existence of the bend, the distance between the tag and the A2 is larger, and the distance between the tag and the B1 is accurate, so that 2 circles intersect, but none of the 2 circles are located on the tunnel.

In the tunnel, a one-dimensional positioning mode is completely adopted, but a positioning area is not necessarily a straight line, so that certain curves and undulations exist. The direct use of straight line fitting according to the past 1 dimension is not accurate enough, resulting in position errors, or deviations.

Therefore, the original one-dimensional positioning mode is abandoned, and a new one-dimensional map is drawn by taking the connection relation between the roadway length and the roadway as a reference. The one-dimensional map is composed of a plurality of line segment topologies, each line segment has an independent line segment number, a line segment length, a line segment starting point and a line segment ending point, and each line segment represents a section of roadway without bifurcation. Fig. 6 is a schematic diagram of drawing a new one-dimensional map based on the connection relationship between the lane lengths and the lanes, because there is a branch road, which is divided into at least three line segments, each line segment represents a lane without a branch, there are base stations a1 and a2 in the lane 1, base stations B1 and B2 in the lane 2, and base stations C1 and C2 in the lane 1.

In some examples, the step S1 is based on the following principle to construct the one-dimensional map according to the real geographic environment of the coal mine tunnel: for a circular roadway, the circular roadway is cut into two interconnected line segments. That is, the rule of dividing the line segments is such that when a branch occurs, a new line segment must be divided, and when a single loop occurs, the line segment is divided into 2 segments. Although this one coordinate system is named as a line segment coordinate system, each line segment is not necessarily a straight line.

The method for drawing the one-dimensional map can break through the limitation of the coal mine tunnel environment on the composition of the two-dimensional map, is more beneficial to constructing the map by an engine, can clearly draw the topographic map in the coal mine tunnel on one hand, is not limited to a straight tunnel, is suitable for curves, ramps, spiral terrains and the like, and on the other hand, is easy to modify the topographic map when the topographic environment in the coal mine tunnel changes. For example, when a new roadway is vertically excavated downwards by taking the center of one roadway as a starting point, on a three-dimensional map, if the new roadway and other roadways have a staggered relationship on a projection plane, map drawing becomes quite difficult, but on the one-dimensional map mentioned in the invention, only a new line segment needs to be directly added at a corresponding position, and only the starting point coordinate of the new roadway and the actual length of the new roadway need to be known.

The position coordinates of the starting point and the ending point of the base station, the label or the roadway in the map use a line segment coordinate system, namely: (line segment number, offset) is abbreviated as (# num, # range). Wherein:

# num indicates the num line segment.

Range denotes the range distance at the start of the segment.

The entire one-dimensional map is made up of a large number of segments, each with a unique # num. The line segments contain the following basic properties:

(1) the length of the line segment.

(2) The association of the start of a segment with other segments (which may be multiple).

(3) The end of a line segment is associated with (a plurality of) other line segments.

As shown in fig. 7, the one-dimensional map includes 5 line segments, each representing five lanes, and the arrow points from the beginning to the end, and the attributes of each line segment are as follows:

(1) segment 1, 400 meters in length, previous null, next (segment 2, start) (segment 3, start).

(2) Segment 2, 200 meters in length, (segment 1, end), next (segment 4, start) (segment 5, start).

(3) Segment 3, 180 meters in length, (segment 1, end), and next null.

(4) Segment 4, length 220 m, (segment 2, end), next null.

(5) Segment 5, 100 meters in length, (segment 2, end), and next null.

The coordinates of the two base stations A1 and B1 are respectively:

a1 ═ (line segment 1, 220 m).

B1 ═ (line segment 2, 120 m).

Preferably, in step S1, the constructing the one-dimensional map according to the real geographic environment of the coal mine tunnel includes:

acquiring the segment starting point of each segment and the associated characteristics of the segments connected with the segment starting point, acquiring the segment end point of each segment and the associated characteristics of the segments connected with the segment end point, and establishing an associated characteristic database, wherein the segment end point of the segment 1 corresponds to the segment starting points of the segments 2 and 3, and the like, and is used as one of the basic data for subsequent label positioning.

Step two, collecting data messages and calculating the position coordinates of the labels

When calculating the position of the tag, instead of directly drawing a circle with the ranging distance as a radius, the ranging base station walks a # range distance along each possible path, which will obtain a plurality of sets of end point coordinates (# num, # range). If there are multiple pieces of ranging information, the information (# num, # range) between each base station is compared to find the aggregation intersection point.

Taking fig. 7 as an example, data packets of interaction between a positioning tag and two base stations, namely a1 and B1, can be collected at the current moment, lane lengths between the positioning tag and the two base stations, namely a1 and B1, are obtained by calculation according to the data packets, and end point coordinates of all possible moving paths of the positioning tag corresponding to the a1 base station and the B1 base station on the one-dimensional map are obtained by respectively taking the a1 base station and the B1 base station as moving starting points and combining the corresponding lane lengths.

Assume that the tag ranging information is: a1 base station, 200 meters; b1 base station, 100 meters. Here, 200 meters and 100 meters are calculated based on the characteristics of signal curve propagation, that is, the length of the lane between the tag and the a1 base station is 200 meters, and the length of the lane between the tag and the B1 base station is 100 meters. The coordinates a _1, a _2 and a _3 of the end points of the three moving paths of which the positioning labels correspond to the A1 base station and the coordinates B _1, B _2 and B _3 of the end points of the three moving paths of which the positioning labels correspond to the B1 base station are obtained, and the coordinates of the end points comprise two parameters of the line segment number and the offset. And comparing the six end point coordinates to obtain a convergence point, and taking the convergence point as the position coordinate of the positioning label on the one-dimensional map.

Because the number of branches in the coal mine tunnel is large, the number of the end point coordinates corresponding to one base station is variable, and the principle is that the base station is used as a starting point, the ranging distance is used as the moving length, all possible moving paths are traversed, and the corresponding end point position is found. As in fig. 6, the direction indicated by the arrow is assumed to be the forward direction:

(1) with the a1 base station as the starting point and the ranging distance of 200 meters, the possible moving paths include: the method comprises the steps of firstly, walking 200 meters backwards along a line segment 1, secondly, walking 180 meters forwards along the line segment 1, entering a line segment 2, and continuing to walk 20 meters forwards, thirdly, walking 180 meters forwards along the line segment 1, entering a line segment 3, and continuing to walk 20 meters forwards, and finally three end positions of a _1, a _2 and a _3 are generated.

(2) With the B1 base station as a starting point and the ranging distance of 100 meters, possible moving paths include: the method comprises the steps of firstly, walking 200 meters backwards along a line segment 2, secondly, walking 180 meters forwards along the line segment 2, entering a line segment 4, and continuing to walk 20 meters forwards, thirdly, walking 180 meters forwards along the line segment 2, entering a line segment 5, and continuing to walk 20 meters forwards, and finally three end positions of b _1, b _2 and b _3 are generated.

And calculating the coordinates of a _1, a _2 and a _3 in the graph by combining the coordinates of the base station, the length of each line segment and the associated characteristics as follows:

a _1 ═ (line segment 1, 20 meters).

a _2 ═ (line segment 3, 20 meters).

a _3 ═ (line segment 2, 20 meters).

The coordinates of b _1, b _2, b _3 in the figure are as follows:

b _1 ═ (line segment 2, 20 meters).

b _2 ═ (line segment 4, 20 meters).

b _3 ═ (line segment 5, 20 meters).

And analyzing the solutions of the A1 and B1 base stations, finding that the B _1 and a _3 aggregation degrees are higher, and judging that the position coordinates of the positioning label are (line segment 2, 20 meters).

After the actual position coordinates of the positioning tag are obtained, the application data can be sent to the tag through the base station, such as sending an alarm.

In some examples, the positioning method further comprises:

acquiring a real three-dimensional map of the coal mine tunnel, and establishing a corresponding relation between the real three-dimensional map and a one-dimensional map; and mapping the position coordinates of the positioning labels on the one-dimensional map to a real three-dimensional map, and acquiring the position coordinates of the positioning labels on the real three-dimensional map. Preferably, the road model of the complete tunnel can be extended by a myriad of segments. The divided countless small maps can display local positioning conditions by using real relative coordinates or real three-dimensional maps.

By the method, the one-dimensional map and the real three-dimensional map can be effectively combined, and the label state in the real geographic environment is visually displayed to a user on the premise of simplifying the positioning calculation process, so that a more positioning display effect is obtained, or further calculation work is carried out by taking the position coordinates in the real three-dimensional map as the reference.

In addition, in the installation manner of the base station mentioned in fig. 4, at least two positioning base stations with a short distance (e.g. 10 meters) are used as a base station group, and one base station group corresponds to one positioning coverage area, when the tag is located at one side of the base station group, the shielding is basically consistent, and the tag can perform ranging completion positioning with two positioning base stations of the base station group at the same time. The distance between two adjacent base station groups is long, and the distance usually exceeds the coverage area of the base station in consideration of cost, if a traditional method for sending a synchronous message between the base stations is adopted, the time synchronization between the two base station groups cannot be completed at all, but if a positioning label which can freely move between the two base station groups is adopted, the positioning work between the two base station groups can be easily completed. The installation mode of the base station can effectively solve the problems of difficult positioning and the like caused by curves and faults in the existing coal mine underground.

The installation mode and the distance measurement method of the base station are combined with the one-dimensional map provided by the invention, so that the positioning work of the label can be completed more efficiently, for example, only the base station group is arranged by taking each roadway as a reference, as shown in fig. 6, the base station group arranged in the same roadway corresponds to the positioning work of the roadway and a part of inflection point area connected with the roadway, because under the normal condition, the number of the terminal point coordinates corresponding to the base station group is not more than 4 (for example, each base station group corresponds to a part or all of the area of the same line segment), the calculated amount is greatly simplified, and the positioning success rate and the accuracy rate are improved.

When the inflection point region (branch road junction) is a curve region at the same time, in view of the problems of positioning accuracy and positioning efficiency, a limit value (e.g. 30 meters) may be set as the farthest end position threshold, as shown in fig. 6, the base stations a1 and a2 are arranged on the distance line segment 1 to be responsible for managing the entire area of the line segment 1, the inflection point region of the line segment 2, and the inflection point region of the line segment 3, when the tag is located 50 meters away from the start point of the line segment 2, even though the base station a2 may possibly interact with the tag, the value is not considered because of the longer distance, only the measurement values of the base stations B1 and B2 are used, and when the tag is located 20 meters away from the start point of the line segment 2, the actual coordinates of the tag may be obtained through the measurement values of the base stations a2 and B1, so that the possibility of arranging.

In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.