CN111208500A - A passive RFID-based method for detecting the position and attitude parameters of roadheaders - Google Patents
A passive RFID-based method for detecting the position and attitude parameters of roadheaders Download PDFInfo
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Abstract
The invention discloses a passive RFID-based heading machine pose parameter detection method, belonging to the field of heading machine pose identification; firstly, establishing a harmonic backscattering anti-interference model by using a passive broadband harmonic tag so as to eliminate strong self-interference and dense multipath interference leaked by a transmitting antenna; then, optimizing and selecting the optimal frequency combination which enables the phase error tolerance to be maximum by utilizing a genetic algorithm; then, a coherent emission broadband multi-frequency continuous wave phase difference distance measurement method is used for solving the problem of distance ambiguity of a tunneling working face; obtaining the high-precision positioning of the passive tag on the machine body by adopting a geometric positioning algorithm; and finally, establishing a position and pose model of the development machine body, and detecting the position and pose parameters of the development machine body according to the three-dimensional coordinate position of the passive tag.
Description
Technical Field
The invention relates to the field of heading machine position and posture identification, in particular to a passive RFID-based heading machine position and posture parameter detection method.
Background
With the development of intelligent equipment and the technology of internet of things, the safety production processes of mining, digging, transportation and the like of mines gradually tend to be unmanned/less humanized, the position and posture real-time identification technology of the cantilever type heading machine is the core of the unmanned technology of the fully mechanized excavation working face, the heading quality directly determines the production efficiency, and the method has important significance for improving the effectiveness of underground safety production management and personnel scheduling of coal mines, responding to the high efficiency of emergency rescue, realizing future machine cooperative work and intelligent unmanned production. In recent years, researchers have conducted certain research on heading machine position and posture positioning and recognition. The Wu \28156teachingteam of the university of mineral industry (Beijing) proposes an ultra wide band pose collaborative detection method facing the development machine, a positioning model is established according to the wave arrival time difference and the distance measurement of a P440 module, a coordinate of a positioning point is estimated by utilizing a collaborative positioning algorithm, a mechanical mechanism of the cantilever development machine is simplified into a series of kinematic chains formed by connecting translation or rotation joints in series, and a development machine space pose coordinate system is established; a child-sensitive Ming-education team of the university of the China mining industry provides a real-time monitoring system of a development machine body based on machine vision, and the real-time monitoring system can automatically detect pose parameters of the development machine body and has strong anti-interference capability. The heading machine positioning and attitude identification method basically adopts an active positioning identification technology, and along with the development of intelligent and unmanned mining technologies, researches on passive identification methods in complex environments such as tunnels and mines are necessary.
Disclosure of Invention
The invention aims to solve the technical problems of overcoming the difference of the prior art and providing a method for detecting the position and orientation parameters of a heading machine based on passive RFID (radio frequency identification), which eliminates strong self-interference of leakage of a transmitting antenna and resists dense multipath interference by using a passive harmonic backscattering tag, solves the problem of fuzzy distance of a heading working face based on a coherent scanning broadband multi-frequency continuous wave phase difference distance measurement method, and realizes accurate and effective heading machine position and orientation identification.
The invention adopts the following technical scheme for solving the technical problems:
a passive RFID-based heading machine pose parameter detection method specifically comprises the following steps:
step 1: establishing a harmonic backscattering anti-interference model by using a passive broadband harmonic tag;
step 2: optimizing and selecting the optimal frequency combination which enables the phase error tolerance to be maximum by utilizing a genetic algorithm;
and step 3: the problem of distance ambiguity of a driving working face is solved by utilizing a coherent scanning broadband multi-frequency continuous wave phase difference distance measurement method;
and 4, step 4: obtaining the high-precision positioning of the passive tag on the machine body by adopting a geometric positioning algorithm;
and 5: and establishing a position model of the body of the heading machine, and determining the specific position of the body of the heading machine according to the three-dimensional coordinate position of the passive tag.
As a further preferable scheme of the passive RFID-based heading machine pose parameter detection method of the present invention, the step 1 is specifically as follows:
when the downlink signal is at carrier frequency f0After the signal is transmitted from the transmitter to the tag, a nonlinear element in the passive tag is utilized to generate a corresponding second harmonic with the frequency of 2f0Reception antenna receiving only 2f0Harmonic signals of frequency no longer receiving frequency f0Of signals, i.e. second harmonic frequency 2f0The frequency diversity of the downlink and the uplink is realized for the signals from the label to the receiving antenna link, the strong self-interference of the leakage of the transmitting antenna is eliminated, and the dense multipath interference is resisted.
As a further preferable scheme of the passive RFID-based heading machine pose parameter detection method of the present invention, the step 2 is specifically as follows:
step 2.1, selecting high-quality carrier frequencies of mine wireless communication, wherein the high-quality carrier frequencies comprise 916MHz and 2.4 GHz;
2.2, optimizing and selecting the frequency of the coherent scanning broadband multi-frequency continuous wave by using a genetic algorithm based on the mechanism of fuzzy generation of the communication distance of the mine working face and the phase difference ranging distance; in order to optimize the selection of the frequency, a threshold equation is defined:
wherein f isiIs the ith sine wave frequency, wherein i is more than or equal to 1 and less than or equal to K, K is the number of multi-frequency continuous waves, N is a natural number set, aiAt least one of which is non-zero, f being the optimum frequency combination selected, RmaxFor the greatest measurable distance, the maximum phase error threshold Φ is
Through the formula (1) and the formula (2), the optimal frequency sequence with the maximum phase error tolerance of K phases can be optimally selected by using a genetic algorithm, and the optimal frequency combination is set as fmax＝f1≥f2…≥fK＝fminThen a phase error threshold of
As a further preferable scheme of the passive RFID-based heading machine pose parameter detection method of the present invention, the step 3 is specifically as follows:
constructing an echo signal model, and eliminating distance ambiguity by using a phase difference combination generated by K second harmonic signals generated by a passive broadband harmonic tag to realize accurate distance measurement; the real distance between the reader and the passive broadband harmonic tag is expressed as
The actual measured phase difference is caused by the limited space of the driving face and serious dense multipath interference
And theoretical value
There will be an error between them, resulting in a range error ei(ii) present; actual measurement distance R from reader-writer to harmonic tag under action of ith frequencyiCan be expressed as
In order to solve the distance ambiguity problem, the measurement error e under the action of each frequency is enabled by a method of continuously transmitting multi-frequency continuous waves and constrained minimum mean square erroriHas the smallest sum of squares, i.e.
The constraint is that for all of the satiations
At this time, n can be obtained by using the formula (6) and two constraint conditions thereofiAnd a non-ambiguous estimate of true distance R;
if the phase difference error is not correct
Is very large, and
if equation (7) does not hold, the relaxation threshold Φ is
Φm+1＝Φmω (8)
Until it meets
Until the end; wherein, omega is relaxation factor with value larger than 1 and phimThreshold value for m-th setting is represented by phim+1Alternative equation (7)) Phi in (b) is obtained
In this case, similarly, the unambiguous estimation value of the true distance R is obtained using equation (6) and its two constraints.
As a further preferable scheme of the passive RFID-based heading machine pose parameter detection method of the present invention, the step 4 is specifically as follows:
let the coordinates of the reader-writer be S1(x1,y1,z1)，S2(x2,y2,z2)，S3(x3,y3,z3)，S4(x4,y4,z4) (ii) a Their distance to each fuselage passive tag can be written as four spherical equations:
solving the equation system can obtain the three-dimensional coordinates of the passive harmonic tags of the airframe, which are respectively expressed as A (x)a,ya,za)，B(xb,yb,zb)，C(xc,yc,zc) (ii) a Namely, the precise positioning of the passive label of the development machine body can be obtained by adopting a geometric positioning algorithm.
As a further preferable scheme of the passive RFID-based heading machine pose parameter detection method of the present invention, the step 5 is specifically as follows:
establishing a position and posture model of a tunneling machine body by taking the center of a bottom line of the cross section of the tunnel as a coordinate origin, the direction of a center line of the tunnel as an x axis and the direction of a waist line as a z axis, and respectively giving a course angle, a pitch angle and a roll angle:
wherein the heading angle is an included angle between the heading machine and an x-axis on an xoy plane, the pitch angle is an included angle between the heading machine and the x-axis on an xoz plane, and the roll angle is an included angle between the heading machine and the y-axis on a yoz plane;
from the three-dimensional coordinate position A (x) of the passive taga,ya,za)、B(xb,yb,zb) And C (x)c,yc,zc) And the position and attitude parameters of the development machine body can be detected by using the formulas (11) to (13).
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
(1) by adopting the passive harmonic backscattering tag, the strong self-interference leaked by the transmitting antenna can be effectively eliminated, and the dense multipath interference can be resisted;
(2) by utilizing the coherent scanning broadband multi-frequency continuous wave phase difference distance measurement method, the problem of distance ambiguity of a tunneling working face is solved, and high-precision distance measurement is realized.
Drawings
FIG. 1 is a flow chart of a passive RFID-based heading machine pose parameter detection method;
FIG. 2 is a structural diagram of a position and posture parameter detection system of a development machine based on a passive RFID;
FIG. 3 is a diagram of a harmonic backscatter multipath scenario;
fig. 4 is a heading machine attitude angle calculation model.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
a passive RFID-based heading machine pose parameter detection method specifically comprises the following steps:
step 1: establishing a harmonic backscattering anti-interference model by using a passive broadband harmonic tag;
when the downlink signal is at carrier frequency f0After the signal is transmitted from the transmitter to the tag, a nonlinear element in the passive tag is utilized to generate a corresponding second harmonic with the frequency of 2f0Reception antenna receiving only 2f0Harmonic signals of frequency no longer receiving frequency f0Of signals, i.e. second harmonic frequency 2f0For the signal from the label to the receiving antenna chain, the frequency diversity of the downlink and the uplink is realized, the strong self-interference of the leakage of the transmitting antenna is eliminated, and the dense multipath interference is resisted
Step 2: optimizing and selecting the optimal frequency combination which enables the phase error tolerance to be maximum by utilizing a genetic algorithm;
step 2.1, selecting high-quality carrier frequencies of mine wireless communication, wherein the high-quality carrier frequencies comprise 916MHz and 2.4 GHz;
2.2, optimizing and selecting the frequency of the coherent scanning broadband multi-frequency continuous wave by using a genetic algorithm based on the mechanism of fuzzy generation of the communication distance of the mine working face and the phase difference ranging distance; in order to optimize the selection of the frequency, a threshold equation is defined:
wherein f isiIs the ith sine wave frequency, wherein i is more than or equal to 1 and less than or equal to K, K is the number of multi-frequency continuous waves, N is a natural number set, aiAt least one of which is non-zero, f being the optimum frequency combination selected, RmaxFor the greatest measurable distance, the maximum phase error threshold Φ is
Through the formula (1) and the formula (2), the optimal frequency sequence with the maximum phase error tolerance of K phases can be optimally selected by using a genetic algorithm, and the optimal frequency combination is set as fmax＝f1≥f2…≥fK＝fminThen a phase error threshold of
And step 3: the problem of distance ambiguity of a driving working face is solved by utilizing a coherent scanning broadband multi-frequency continuous wave phase difference distance measurement method;
constructing an echo signal model, and eliminating distance ambiguity by using a phase difference combination generated by K second harmonic signals generated by a passive broadband harmonic tag to realize accurate distance measurement; the real distance between the reader and the passive broadband harmonic tag is expressed as
The actual measured phase difference is caused by the limited space of the driving face and serious dense multipath interference
And theoretical value
There will be an error between them, resulting in a range error ei(ii) present; actual measurement distance R from reader-writer to harmonic tag under action of ith frequencyiCan be expressed as
In order to solve the distance ambiguity problem, the measurement error e under the action of each frequency is enabled by a method of continuously transmitting multi-frequency continuous waves and constrained minimum mean square erroriHas the smallest sum of squares, i.e.
The constraint is that for all of the satiations
At this time, the formula (6) can be utilizedAnd its two constraints, obtain niAnd a non-ambiguous estimate of true distance R;
if the phase difference error is not correct
Is very large, and
if equation (7) does not hold, the relaxation threshold Φ is
Φm+1＝Φmω (8)
Until it meets
Until the end; wherein, omega is relaxation factor with value larger than 1 and phimThreshold value for m-th setting is represented by phim+1Replacing phi in the formula (7) to obtain
In this case, similarly, the unambiguous estimation value of the true distance R is obtained using equation (6) and its two constraints.
And 4, step 4: obtaining the high-precision positioning of the passive tag on the machine body by adopting a geometric positioning algorithm;
let the coordinates of the reader-writer be S1(x1,y1,z1)，S2(x2,y2,z2)，S3(x3,y3,z3)，S4(x4,y4,z4) (ii) a Their distance to each fuselage passive tag can be written as four spherical equations:
solving the equation system can obtain the three-dimensional coordinates of the passive harmonic tags of the airframe, which are respectively expressed as A (x)a,ya,za)，B(xb,yb,zb)，C(xc,yc,zc) (ii) a Namely, the precise positioning of the passive label of the development machine body can be obtained by adopting a geometric positioning algorithm.
Preferably, the step 5 is as follows:
establishing a position and posture model of a tunneling machine body by taking the center of a bottom line of the cross section of the tunnel as a coordinate origin, the direction of a center line of the tunnel as an x axis and the direction of a waist line as a z axis, and respectively giving a course angle, a pitch angle and a roll angle:
wherein the heading angle is an included angle between the heading machine and an x-axis on an xoy plane, the pitch angle is an included angle between the heading machine and the x-axis on an xoz plane, and the roll angle is an included angle between the heading machine and the y-axis on a yoz plane;
from the three-dimensional coordinate position A (x) of the passive taga,ya,za)、B(xb,yb,zb) And C (x)c,yc,zc) The position and pose parameters of the excavator body can be detected by using the formulas (11) to (13);
and 5: and establishing a position model of the body of the heading machine, and determining the specific position of the body of the heading machine according to the three-dimensional coordinate position of the passive tag.
The following is detailed with reference to the accompanying drawings: fig. 1 is a flow chart of a position and posture identification method of a heading machine based on a passive radio frequency tag. Firstly, establishing a harmonic backscattering anti-interference model by using a passive broadband harmonic tag so as to eliminate strong self-interference and dense multipath interference leaked by a transmitting antenna; then, optimizing and selecting the optimal frequency combination which enables the phase error tolerance to be maximum by utilizing a genetic algorithm; then, a coherent emission broadband multi-frequency continuous wave phase difference distance measurement method is used for solving the problem of distance ambiguity of a tunneling working face; obtaining the high-precision positioning of the passive tag on the machine body by adopting a geometric positioning algorithm; and finally, establishing a position and pose model of the development machine body, and detecting the position and pose parameters of the development machine body according to the three-dimensional coordinate position of the passive tag.
Fig. 2 is a structural diagram of a position and posture parameter detection system of a heading machine based on a passive RFID. The heading machine body pose parameter detection system is composed of a base station of a passive RFID and comprises four readers and A, B, C three or more passive harmonic tags. When the positions of the reader-writer relative to a roadway coordinate system and three passive harmonic tag positioning points on the tunneling machine body are known, the current pose of the tunneling machine body can be determined through calculation after coordinate parameters of the three positioning points are obtained.
FIG. 3 is a diagram of a harmonic backscatter multipath scenario. When the downlink signal is at carrier frequency f0After the signal is transmitted from the transmitter to the tag, a nonlinear element in the passive tag is utilized to generate a corresponding second harmonic with the frequency of 2f0Reception antenna receiving only 2f0No longer receiving the harmonic signal of frequency f0Of signals, i.e. second harmonic frequency 2f0The frequency diversity of the downlink and the uplink is realized for the signals from the label to the receiving antenna link, the strong self-interference of the leakage of the transmitting antenna is eliminated, and the dense multipath interference is resisted.
Fig. 4 is a heading machine attitude angle calculation model. A course angle mathematical computation model based on a passive harmonic tag and a CSMCW phase difference distance measurement method is shown in figure 4a, which is a top view of a position and posture detection system model of the development machine, R1A、R2A、R3A、R4ARanging information of the reader-writer 1, 2, 3 and 4 to the machine body positioning node A; r1B、R2B、R3B、R4BFor the distance measurement information of the reader/writer 1, 2, 3, 4 to the body positioning node B, the three-dimensional coordinate a (x) of the body positioning tag A, B is estimated from these 8 sets of distance informationa,ya,za) And B (x)b,yb,zb) The heading angle α, which is the included angle between the heading machine and the x-axis (initial heading) calculated according to the formula (10), is
The mathematical calculation model of the pitch angle is shown in figure 4B, which is a side view of the heading machine attitude and posture detection system model, and the included angle between the heading machine and the z axis can be calculated according to the formula (11) and the distance measurement information of the reader-writers 1, 2, 3 and 4 on the positioning nodes A and B of the machine body, namely the pitch angle is the pitch angle
The roll angle mathematical calculation model is shown in fig. 4C, which is a front view of a position and posture detection system model of the development machine, and an included angle between the development machine and the y axis can be calculated according to the distance measurement information of the reader-writers 1, 2, 3 and 4 to the machine body positioning nodes A and C and a formula (12), namely the roll angle is
Claims (6)
1. A passive RFID-based heading machine pose parameter detection method is characterized by specifically comprising the following steps:
step 1: establishing a harmonic backscattering anti-interference model by using a passive broadband harmonic tag;
step 2: optimizing and selecting the optimal frequency combination which enables the phase error tolerance to be maximum by utilizing a genetic algorithm;
and step 3: the problem of distance ambiguity of a driving working face is solved by utilizing a coherent scanning broadband multi-frequency continuous wave phase difference distance measurement method;
and 4, step 4: obtaining the high-precision positioning of the passive tag on the machine body by adopting a geometric positioning algorithm;
and 5: and establishing a position model of the body of the heading machine, and determining the specific position of the body of the heading machine according to the three-dimensional coordinate position of the passive tag.
2. The passive RFID-based heading machine pose parameter detection method according to claim 1, wherein the step 1 specifically comprises the following steps:
when the downlink signal is at carrier frequency f0After the signal is transmitted from the transmitter to the tag, a nonlinear element in the passive tag is utilized to generate a corresponding second harmonic with the frequency of 2f0Reception antenna receiving only 2f0Harmonic signals of frequency no longer receiving frequency f0Of signals, i.e. second harmonic frequency 2f0The frequency diversity of the downlink and the uplink is realized for the signals from the label to the receiving antenna link, the strong self-interference of the leakage of the transmitting antenna is eliminated, and the dense multipath interference is resisted.
3. The passive RFID-based heading machine pose parameter detection method according to claim 2, wherein the step 2 is as follows:
step 2.1, selecting high-quality carrier frequencies of mine wireless communication, wherein the high-quality carrier frequencies comprise 916MHz and 2.4 GHz;
2.2, optimizing and selecting the frequency of the coherent scanning broadband multi-frequency continuous wave by using a genetic algorithm based on the mechanism of fuzzy generation of the communication distance of the mine working face and the phase difference ranging distance; in order to optimize the selection of the frequency, a threshold equation is defined:
wherein f isiIs the ith sine wave frequency, wherein i is more than or equal to 1 and less than or equal to K, K is the number of multi-frequency continuous waves, N is a natural number set, aiAt least one of which is non-zero, f being the optimum frequency combination selected, RmaxFor the greatest measurable distance, the maximum phase error threshold Φ is
Through the formula (1) and the formula (2), the optimal frequency sequence with the maximum phase error tolerance of K phases can be optimally selected by using a genetic algorithm, and the optimal frequency combination is set as fmax＝f1≥f2…≥fK＝fminThen a phase error threshold of
4. The passive RFID-based heading machine pose parameter detection method according to claim 3, wherein the step 3 is as follows:
constructing an echo signal model, and eliminating distance ambiguity by using a phase difference combination generated by K second harmonic signals generated by a passive broadband harmonic tag to realize accurate distance measurement; the real distance between the reader and the passive broadband harmonic tag is expressed as
The actual measured phase difference is caused by the limited space of the driving face and serious dense multipath interference
And theoretical value
There will be an error between them, resulting in a range error ei(ii) present; actual measurement distance R from reader-writer to harmonic tag under action of ith frequencyiCan be expressed as
In order to solve the distance ambiguity problem, the measurement error e under the action of each frequency is enabled by a method of continuously transmitting multi-frequency continuous waves and constrained minimum mean square erroriHas the smallest sum of squares, i.e.
The constraint is that for all of the satiations
At this time, n can be obtained by using the formula (6) and two constraint conditions thereofiAnd a non-ambiguous estimate of true distance R;
if the phase difference error is not correct
Is very large, and
if equation (7) does not hold, the relaxation threshold Φ is
Φm+1＝Φmω (8)
Until it meets
Until the end; wherein, omega is relaxation factor with value larger than 1 and phimThreshold value for m-th setting is represented by phim+1Replacing phi in the formula (7) to obtain
In this case, similarly, the unambiguous estimation value of the true distance R is obtained using equation (6) and its two constraints.
5. The passive RFID-based heading machine pose parameter detection method according to claim 4, wherein the step 4 is as follows:
let the coordinates of the reader-writer be S1(x1,y1,z1)，S2(x2,y2,z2)，S3(x3,y3,z3)，S4(x4,y4,z4) (ii) a Their distance to each fuselage passive tag can be written as four spherical equations:
solving the equation system can obtain the three-dimensional coordinates of the passive harmonic tags of the airframe, which are respectively expressed as A (x)a,ya,za)，B(xb,yb,zb)，C(xc,yc,zc) (ii) a Namely, the precise positioning of the passive label of the development machine body can be obtained by adopting a geometric positioning algorithm.
6. The passive RFID-based heading machine pose parameter detection method according to claim 5, wherein the step 5 is as follows:
establishing a position and posture model of a tunneling machine body by taking the center of a bottom line of the cross section of the tunnel as a coordinate origin, the direction of a center line of the tunnel as an x axis and the direction of a waist line as a z axis, and respectively giving a course angle, a pitch angle and a roll angle:
wherein the heading angle is an included angle between the heading machine and an x-axis on an xoy plane, the pitch angle is an included angle between the heading machine and the x-axis on an xoz plane, and the roll angle is an included angle between the heading machine and the y-axis on a yoz plane;
from the three-dimensional coordinate position A (x) of the passive taga,ya,za)、B(xb,yb,zb) And C (x)c,yc,zc) Using the formula (11) to the formula (13) isThe position and posture parameter detection of the excavator body can be realized.
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|---|---|---|---|---|
| CN114924224A (en) * | 2022-05-17 | 2022-08-19 | 中国矿业大学 | A high-precision positioning method in tunnel based on multi-frequency carrier phase |
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