CN-120972093-B - Underground target positioning accuracy enhancement method and system based on Internet of things

CN120972093BCN 120972093 BCN120972093 BCN 120972093BCN-120972093-B

Abstract

The invention discloses an underground target positioning accuracy enhancement method and system based on the Internet of things, which comprises the steps of acquiring target positioning related data in real time by a terminal for determining target positioning and calculating target displacement, recording the target displacement in a set period as a continuous displacement sequence, calculating an error evaluation result of current target displacement based on the continuous displacement sequence, determining target surrounding positioning devices based on the set effective radius of a positioning device when the error evaluation result exceeds a set error threshold value, respectively acquiring the target positioning related data by the target surrounding positioning devices and transmitting the target positioning related data to the terminal through the Internet of things, determining a plurality of target positioning by the terminal by adopting the target positioning related data, dividing all target positioning into a plurality of cluster clusters based on a K-means clustering algorithm, calculating a clustering rationality coefficient of the cluster based on the central point position of each cluster, and taking the central point of the cluster with the largest clustering rationality coefficient as the current target positioning. The invention has the outstanding advantages of accurate positioning, high reliability and the like.

Inventors

TIAN YUAN
CHEN WEI
WANG ZILONG
CHEN JIANQIAO
LI QIWEI
LIU CHAO
ZHANG ZILIANG
WANG YANG
ZHU WENSHUO
ZHANG JIAN
ZHANG ZHENYU
SHAO TIANTIAN

Assignees

煤炭科学技术研究院有限公司

Dates

Publication Date: 20260505
Application Date: 20250804

Claims (9)

1. The method for enhancing the positioning accuracy of the underground target based on the Internet of things is characterized by comprising the following steps of: The positioning target is provided with a positioning device; The terminal collects the related data of the target positioning in real time for determining the target positioning, calculates the target displacement based on the current target positioning and the target positioning at the last sampling time, records the target displacement in a set period as a continuous displacement sequence, and calculates the error evaluation result of the current target displacement : Wherein, the method comprises the steps of, The signal intensity of the current radio frequency identification tag acquired by the terminal is calculated; the standard signal intensity is set; J represents the j-th target displacement in the reasonable displacement sequence, n is the total data point number in the reasonable displacement sequence; the j-th target displacement in the reasonable displacement sequence; when the error evaluation result exceeds a set error threshold value, the terminal determines a positioning device around the target based on the set effective radius of the positioning device; each target surrounding positioning device respectively collects target positioning related data and transmits the data to the terminal through the Internet of things; The method comprises the steps of determining a plurality of target positions by a terminal through the target position related data, dividing all the target positions into a plurality of cluster clusters based on a K-means clustering algorithm, and calculating a clustering rationality coefficient u of each cluster: Wherein, the method comprises the steps of, Is the abscissa of the target at time i-1; Is the ordinate of the target at the i-1 th moment; is the vertical coordinate of the target at the i-1 time; The central position point abscissa of the ith moment cluster; the ordinate of the central position point of the ith moment cluster; j represents the j-th target displacement in the reasonable displacement sequence, n is the total data point number in the reasonable displacement sequence; the j-th target displacement in the reasonable displacement sequence; And taking the central point of the cluster with the largest clustering rationality coefficient as the current target positioning.
2. The method for enhancing the positioning accuracy of the underground target based on the internet of things according to claim 1, wherein the method comprises the following steps: The positioning device comprises a radio frequency identification tag and a wireless communication device.
3. The method for enhancing the positioning accuracy of the underground target based on the internet of things according to claim 1, wherein the method comprises the following steps: the target positioning related data comprises signal strength and signal arrival angle of the radio frequency identification tag.
4. The method for enhancing the positioning accuracy of the underground target based on the internet of things according to claim 1, wherein the method comprises the following steps: and after the target displacement in the set period is recorded as a continuous displacement sequence, eliminating abnormal values in the continuous displacement sequence to obtain a reasonable displacement sequence.
5. The method for enhancing the positioning accuracy of the underground target based on the internet of things according to claim 1, wherein the method comprises the following steps: The target surrounding positioning device is determined based on the set effective radius of the positioning device, wherein the target positioning at the previous sampling moment is used as a circle center, the set effective radius of the positioning device is used as a radius to form a circle, and the in-circle positioning device is used as the target surrounding positioning device.
6. The method for enhancing the positioning accuracy of the underground target based on the internet of things according to claim 1,2 or 3, wherein the method comprises the following steps: Each target peripheral positioning device respectively collects target positioning related data and transmits the data to a terminal through the Internet of things, and the terminal comprises: the radio frequency identification tag in the target surrounding positioning device transmits radio frequency signals; the radio frequency identification tag equipped with the target receives the radio frequency signal and then scatters the received signal to complete response through a backscattering technology, wherein the scattered signal comprises target positioning related data; and the wireless communication device in the surrounding positioning device receives the scattering signal and transmits the target positioning related data to the terminal through the Internet of things.
7. An internet of things-based downhole target positioning accuracy enhancement system utilizing the internet of things-based downhole target positioning accuracy enhancement method of any one of claims 1-6, comprising a positioning acquisition module, an error evaluation module, a surrounding positioning device determination module, a surrounding positioning device data acquisition module, and a target positioning determination module: the positioning displacement calculation module is used for acquiring target positioning related data in real time, determining target positioning, and calculating target displacement based on the current target positioning and the target positioning at the last sampling moment; the error evaluation module is used for calculating an error evaluation result of the current target displacement based on the continuous displacement sequence; The surrounding positioning device determining module is used for determining a target surrounding positioning device based on the set effective radius of the positioning device when the error evaluation result exceeds a set error threshold value; the surrounding positioning device data acquisition module is used for respectively acquiring target positioning related data by adopting each target surrounding positioning device and transmitting the data to the terminal through the Internet of things; The target positioning determining module is used for determining a plurality of target positioning by adopting target positioning related data, dividing all target positioning into a plurality of cluster clusters based on a K-means clustering algorithm, calculating a clustering rationality coefficient based on the center point position of each cluster, and taking the center point of the cluster with the largest clustering rationality coefficient as the current target positioning.
8. A terminal comprises a processor and a storage medium, and is characterized in that: The storage medium is used for storing instructions; The processor is configured to operate according to the instructions to perform the steps of the method for enhancing accuracy of positioning of a target in a well based on the internet of things according to any one of claims 1-6.
9. A computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor realizes the steps of the method for enhancing the accuracy of a downhole target positioning based on internet of things according to any one of claims 1-6.

Description

Underground target positioning accuracy enhancement method and system based on Internet of things Technical Field The invention belongs to the technical field of positioning, and particularly relates to an underground target positioning accuracy enhancement method and system based on the Internet of things. Background Due to high humidity, dust and dynamic mine structures, the underground mining environment causes signal attenuation, multipath interference and unavailability of GPS signals, and the positioning accuracy is seriously affected. In the prior art, sensors such as an Inertial Measurement Unit (IMU) and the like are prone to generating accumulated errors due to limited precision, wireless technologies such as Wi-Fi and ZigBee are insufficient in range and precision and are difficult to meet high precision requirements, ultra Wideband (UWB) technologies have higher precision, but coverage ranges are limited, and multiple sensors are not perfectly fused and initial posture errors can cause deviation. In terms of equipment, low power consumption requirements limit computational power, harsh environments reduce equipment durability, and insufficient base station deployment density further affects signal coverage. In addition, operational problems such as equipment miswear, insufficient maintenance, and lack of personnel skills exacerbate errors. Under the combined action of the factors, the positioning precision is reduced from the centimeter level to the meter level, and the high-precision requirement of underground operation is difficult to meet. CN114299409A discloses a method for locating underground personnel based on image recognition and depth information, which comprises the steps of collecting images of underground equipment, recognizing equipment numbers of the underground equipment according to the images, obtaining absolute position information of the underground equipment in the underground according to the equipment numbers, measuring depth information of the underground equipment relative to underground personnel, calculating the relative position information of the underground personnel and the underground equipment according to the depth information, and obtaining current absolute position information of the underground personnel in the underground according to the relative position information of the underground personnel and the underground equipment and the absolute position information of the underground equipment. However, the patent directly uses original displacement data (such as IMU track), abnormal displacement jump caused by unfiltered environmental mutation (falling rocks and collision), accumulated error is obviously amplified, positioning is inaccurate, and reliability is not high. CN118730117A discloses a coal mine underground positioning and mapping method based on multi-sensor fusion, which belongs to the technical field of coal mine equipment and comprises the following steps of S1, constructing an IMU pre-integration residual, constructing a radar odometer by utilizing point cloud depth information of a laser radar, finishing preliminary estimation of a camera pose, S3, fusing data acquired by the multi-sensor, constructing an inertial, radar and vision mixed residual equation, and establishing a least square optimization equation, and S4, using a closed loop detection module as a relative pose constraint edge by establishing closed loop detection by combining a visual word bag and a laser descriptor, and eliminating accumulated errors. However, the patent adopts a fixed weight fusion algorithm (such as Kalman filtering) and cannot adapt to reliability change caused by downhole humidity mutation or equipment temporary fault, so that positioning is inaccurate and reliability is not high. Disclosure of Invention The invention provides an underground target positioning accuracy enhancement method and system based on the Internet of things, which are used for solving the defect that the positioning accuracy of an underground positioning technology in a complex environment is reduced due to signal attenuation, multipath interference, accumulated errors of a sensor and insufficient coverage of a base station in the prior art. The invention adopts the following technical scheme. The invention discloses a method for enhancing the positioning accuracy of an underground target based on the Internet of things, which comprises the following steps: The positioning target is provided with a positioning device; The terminal acquires target positioning related data in real time, is used for determining target positioning, and calculates target displacement based on the current target positioning and the target positioning at the last sampling moment; when the error evaluation result exceeds a set error threshold value, the terminal determines a positioning device around the target based on the set effective radius of the positioning device; each target surrounding positioning devic