CN103760517B - Underground scanning satellite high-precision method for tracking and positioning and device - Google Patents

Abstract

A high-precision tracking and positioning method and device for underground scanning satellites, which belong to the tracking and positioning method and device. The device includes: a laser transmitter, a beam splitter, a total reflection prism, a turntable, an angle encoder, a motor, a time synchronization signal transmitter, an explosion-proof shell of a positioning device, a laser signal receiver and an industrial computer. The method is based on the concept of GPS positioning and laser scanning technology. Each underground scanning satellite emits two laser scanning surfaces with angle information to the surrounding 360-degree space at all times. One or more mobile devices in the underground environment are equipped with The receiver receives the laser signal, and transmits the spatial angle information of the receiver to the industrial computer. Through algorithm calculation, the device thus determines the specific position of the mobile device or the human body, and calculates the running speed of the underground mobile equipment. The scanning accuracy of the present invention can reach the millimeter level within the range of 100 meters, which fully meets the requirements of "underground unmanned mining" for the tracking and positioning accuracy of mining equipment.

Description

High-precision tracking and positioning method and device for underground scanning satellites

technical field

The invention relates to a tracking and positioning method and device, in particular to a high-precision tracking and positioning method and device for underground scanning satellites.

Background technique

At present, as the mining depth of coal mines in our country gradually increases and the mining conditions become more and more severe, the threat to the safety of miners is also increasing. Therefore, the development of "underground unmanned mining technology" is the fundamental solution, and it is also a cutting-edge technology that the coal industry at home and abroad is jointly pursuing. How to improve the tracking and positioning accuracy of mining equipment in the mining operation space is a key scientific problem to be solved urgently for unmanned underground mining.

Tracking and positioning technology is mainly aimed at real-time measurement of the position and attitude of one or more space objects. The tracking and positioning technology for moving targets in coal mines without GPS signals has also received a certain amount of attention in recent years. The positioning methods can be divided into two categories according to the location of the sensors used: (1) positioning methods based on external sensors ( Wireless positioning technology, infrared positioning technology, ultrasonic positioning technology, computer vision positioning technology, etc.); (2) positioning methods based on self-contained sensors (accelerometer, gyroscope, odometer, magnetic compass, etc.).

Wireless positioning technology is to measure some parameters of radio waves and judge the position of the measured object according to a specific algorithm. The application of wireless positioning technology mainly includes: radio frequency identification, Bluetooth, ultra-wideband, Wi-Fi and Zigbee, etc. ① Radio frequency identification (RFID) technology is to use radio frequency to conduct non-contact two-way communication and exchange data to achieve target identification and positioning. But its working distance is generally a few meters short; the positioning accuracy is on the order of 20cm. ②Ultra-wideband (UWB) technology does not need to use the carrier in the traditional communication system, but transmits data by sending and receiving extremely narrow pulses with nanoseconds, so it has a bandwidth of GHz order. The positioning accuracy of UWB is on the order of 15cm, and the positioning distance is usually limited to about 20m. ③Bluetooth technology is a short-distance and low-power wireless transmission technology, but for the complex underground space environment, the stability of the Bluetooth system is poor, and it is greatly disturbed by noise signals. ④Wi-Fi transceivers can only cover a space within tens of meters, and the positioning accuracy depends entirely on the deployment of the Wi-Fi network. When the Wi-Fi signal is dense, the accuracy can reach 1 meter, and the Wi-Fi signal is easy It is interfered by other signals, thus affecting its positioning accuracy. ⑤ Zigbee technology is a short-distance, low-speed wireless network technology emerging in recent years. Its performance is between radio frequency identification and Bluetooth, and it can also be used for underground positioning. At present, the wireless positioning technology used at home and abroad only has application reports in the positioning and tracking of underground personnel. In essence, it is only a kind of attendance recording system or only stays on the level of rough positioning to complete the approximate position determination. Non-true, precise tracking and positioning.

The principle of infrared positioning technology is to emit modulated infrared rays by infrared rays, and then receive these infrared rays by optical sensors to realize the positioning of the target. However, the positioning accuracy of infrared positioning technology is not high, and the positioning effect in the underground environment is poor due to the short transmission distance, and it is easily interfered by fluorescent lamps and other underground lights, which has certain limitations in precise positioning.

Ultrasonic positioning technology adopts the reflective ranging method, that is, transmitting ultrasonic waves and receiving the echo generated by the measured object, and calculating the distance to be measured according to the time difference between the echo and the transmitted wave. Because ultrasound is susceptible to multipath effects and complex underground environments, it limits its continued development in coal mines.

Computer vision positioning technology refers to the use of cameras and computers instead of human eyes to identify, track and collect targets, and obtain the position and attitude data of the measured target by processing the collected pictures or videos. Although the visual positioning technology has relatively high positioning accuracy, the positioning distance is short. These limit the development of computer vision positioning technology in coal mines.

In addition to the above methods, some scholars have conducted research using methods such as image analysis, magnetic fields, and beacon positioning.

Localization methods based on self-contained sensors mainly include accelerometers, gyroscopes, odometers, and magnetic compasses.

Gyroscopes and accelerometers directly measure the angular velocity and linear acceleration of the measured target in the direction of motion, and the position and attitude data of the measured target are obtained by integrating the acceleration and angular velocity. The odometer uses the principle of gear counting to obtain the number of revolutions of the target walking gear. The number of revolutions is multiplied by the circumference of the walking gear to obtain the distance traveled by the equipment, so as to determine the position of the equipment on the working surface. The magnetic compass is made according to the principle of the compass, and uses the inherent directivity of the geomagnetic field to measure the space attitude angle of the target to obtain the attitude data of the target.

Judging from the existing research results, the research on the above aspects still has the following problems:

(1) Radio tracking and positioning technology is a popular research direction in recent years, but due to the limitation of the characteristics of radio waves, the accuracy of tracking and positioning is not high, which cannot meet the requirements of "underground unmanned mining" for high-precision tracking and positioning of mining equipment (up to sub-centimeter level).

(2) Infrared positioning measurement distance is too short, ultrasonic is easily affected by multipath effect and complex underground environment, computer vision positioning distance is short and easily affected by light, and they cannot meet the requirements of "underground unmanned mining" for high-precision mining equipment Tracking location requirements.

The impact makes the error continue to increase (up to the meter level), making it unable to meet the requirements of "unmanned underground mining" for high-precision tracking and positioning of mining equipment. In addition, what they obtain is only the relative value of the position and posture of the mining equipment rather than the absolute value in the three-dimensional space, which cannot be used as the basis for the automatic control of the mining equipment.

From the above analysis, it can be seen that although the above method can realize the tracking and positioning of underground moving targets, its tracking and positioning accuracy in the mining operation space is not high (tens of centimeters or even several meters), which cannot meet the requirements of "underground unmanned mining" for mining equipment. High precision tracking and positioning requirements.

Contents of the invention

Technical problem: The object of the present invention is to provide a high-precision tracking and positioning method and device for underground scanning satellites, so as to solve the problems of poor precision and susceptibility to interference in the prior art.

Technical solution: the object of the present invention is achieved in this way: the high-precision tracking and positioning of the underground scanning satellite includes a method and a device;

The underground scanning satellite positioning device includes: an underground scanning satellite, a ground control system, a laser signal receiver, and a wireless switch; at least one laser signal receiver is installed on a mobile device or a human body; there are multiple underground scanning satellites, It is installed at intervals on the upper part of the hydraulic support of the underground working surface, and emits laser signals at 360 degrees during operation; the wireless switch is installed in the wall of the underground working space along the groove, and the output of the underground scanning satellite is connected to the input of the ground control system through the optical cable transmission network , the laser information number receiver is connected with the ground control system through a wireless switch.

Described underground scanning satellite comprises: total reflection prism, laser emitter, beam splitter, angle encoder, motor, turntable and ground control system; Laser emitter is positioned at the top of beam splitter, is connected with the bottom of beam splitter The total reflection prism is installed on the turntable, the axis of the turntable is connected with the shaft of the motor, and an angle encoder is connected between the turntable and the motor.

Underground scanning satellite positioning method: comprising the following steps:

1) Based on the principle of GPS positioning, the underground scanning satellite uses the principle of triangulation to establish a three-dimensional coordinate system under the ground. The underground scanning satellite rotates at a set angular velocity and emits two laser scanning surfaces with angular information in the surrounding 360-degree space. and time synchronization signal; when the measured target, that is, the laser signal receiver, receives the signal of the underground scanning satellite and the laser scanning surface signal, according to the angle and angular velocity of the laser scanning surface, the arrival time difference of the laser pulse, the time difference between the strobe signal and the laser signal information to determine the space angle information between the measured target and the underground scanning satellite;

2) Through the mathematical model of the dynamic error transfer of the underground scanning satellite positioning system, the dynamic error characteristics of the azimuth and elevation angles of the underground scanning satellite in the acquisition project are obtained, and its dynamic uncertainty resolution model is established to measure the asynchrony of the underground scanning satellite angle In order to realize the synchronization of angle and time measurement data, the two-point extrapolation method is used to synchronize the acquired information to a time point, so as to reveal the dynamic error transfer law of the underground scanning satellite positioning system in the constrained space of mining operations. The scanning satellite system has the ability of intelligent dynamic networking and positioning. Through the real-time calculation and judgment of the system, the influence of different humidity, temperature, dust concentration and time error can be reduced, and the intelligent compensation of dynamic tracking and positioning error of mining equipment in the constrained space can be established. effective measures;

3) Combining the spatial information transmitted by the receiver and the system dynamic error, using the effective algorithm for adaptive fast tracking and positioning of underground scanning satellites under complex underground conditions, the control system uses four angles (aA, aB, bA, bB) and underground scanning satellite A The transformation relationship matrix (R _A T _A , R _B T _B ) between B and B, accurately calculate the three-dimensional space coordinate position P(x,y,z) of the measured target through the principle of space angle intersection, and solve the underground operation The spatial coordinates of the device or person realize the precise positioning of the operating device or person, and at the same time compare it with the parameters set by the system to make a judgment on the correctness of the position of the person and the device, and provide a basis for ground control;

4) After the control system records the existing spatial coordinates of personnel or devices, execute steps (1)-(3) in a loop;

5) The underground scanning satellite emits scanning laser continuously at 360 degrees according to the angular velocity reflected by the set frequency, grasps the position information of the underground operation device or human body in real time and with high precision, the control system establishes a real-time position information database, and uses the underground scanning satellite to adapt itself The effective algorithm of fast tracking and positioning calculates the real-time speed, direction and speed of the operating device.

Beneficial effects: due to the adoption of the above scheme, the underground scanning satellite rotates at a set angular velocity during operation, and emits two laser scanning planes with angular information and time synchronization signals in the surrounding 360-degree space. After receiving the dual laser scanning signal, the laser signal receiver determines the space between the measured target and the underground scanning satellite according to the included angle and angular velocity of the dual laser scanning surface, the arrival time difference of the laser pulse, the time difference between the strobe signal and the laser signal, etc. angle information.

According to the principle of the above-mentioned high-precision positioning method of underground scanning satellites, a device for precise tracking and positioning of operating equipment by using underground scanning satellites in underground working spaces is invented. The underground scanning satellite works and emits laser signals in 360 degrees. The receiver installed on the device or personnel receives the laser signal, and transmits the spatial angle information to the wireless switch installed on the wall through the wireless switch installed on the device. Utilizing the limited network, the control center on the well receives effective signals. Through the adaptive fast tracking and positioning algorithm preset in the industrial computer, the spatial position of the device or person is calculated. Multiple laser signal receivers are installed on the device, and an algorithm can be used to calculate the working angle of the device. Managers can watch the downhole devices or personnel activities on the computer at the well control center at any time.

Advantages: An accurate positioning method based on the fusion of GPS positioning concept and laser scanning technology - underground scanning satellite positioning method. Laser scanning technology is a dynamic measurement technology based on precision testing engineering. It has the characteristics of high speed, high precision, high resolution and all-weather. Its scanning accuracy can reach millimeter level within a range of 100 meters. The above method of the underground scanning satellite system has higher positioning accuracy and meets the requirements of "unmanned underground mining" for the tracking and positioning accuracy of mining equipment. The method is practical, safe and reliable, and convenient to install and operate.

Description of drawings

Figure 1 The basic principle diagram of the precise positioning of the underground scanning satellite system.

Fig. 2 Schematic diagram of the underground scanning satellite structure.

Fig. 3 Schematic diagram of underground scanning satellite to obtain space angle information.

Fig. 4 Flow chart of adaptive fast tracking positioning algorithm.

Figure 5 is a diagram of the precise tracking and positioning system in the unmanned mining workspace.

In the figure: 1. Underground scanning satellite; 2. Ground control system; 3. Total reflection prism; 4. Laser transmitter; 5. Beam splitter; 6. Angle encoder; 7. Motor; 8. Turntable; 9. Laser Signal receiver; 10. Wireless switch; 11. Hydraulic support; 12. Shunt; 13. Shearer; 14. Optical cable transmission network.

detailed description

Embodiment: The high-precision tracking and positioning of underground scanning satellites includes methods and devices;

The underground scanning satellite positioning device includes: an underground scanning satellite 1, a ground control system 2, a laser signal receiver 9, and a wireless switch 10; at least one laser signal receiver 9 is installed on a mobile device or a human body; There are multiple scanning satellites 1, and the azimuth and distance are calculated according to the algorithm. They are installed on the upper part of the hydraulic support 11 in the underground environment, and emit laser signals at 360 degrees during operation; the rotation frequency of the underground scanning satellite 1 is 40-55Hz, and the device rotates to The frequency is specifically set; a plurality of wireless switches 10 are installed in the wall slot 12 of the underground working space, the output end of the underground scanning satellite 1 is connected with the input end of the ground control system 2 through the optical cable transmission network 14, and the laser information number receiver 9 It is connected with the ground control system 2 through a wireless switch 10. The underground scanning satellite 1 works, the laser signal receiver 9 receives the laser signal, and transmits the spatial angle information to the wireless switch 10 installed on the wall through the wireless switch 10 connected to the laser signal receiver, and utilizes the optical cable transmission network 14, the ground control system 2 A valid signal is received.

The underground scanning satellite 1 includes: a total reflection prism 3 , a laser transmitter 4 , a beam splitter 5 , an angle encoder 6 , a motor 7 , a turntable 8 and a ground control system 2 . The laser transmitter 4 is located on the top of the beam splitter 5, and the total reflection prism 3 is connected to the bottom of the beam splitter 5. The total reflection prism 3 is installed on the turntable, and the 8 shafts of the turntable are connected with the shaft of the motor 7, and the turntable 8 is connected to the motor 7. 7 are connected with an angle encoder.

Underground scanning satellite positioning method: comprising the following steps:

1) Based on the principle of GPS positioning, the underground scanning satellite 1 uses the principle of triangulation to establish a three-dimensional coordinate system. The underground scanning satellite 1 rotates at a set angular velocity, and emits two laser scanning surfaces with angle information in the surrounding 360-degree space and Time synchronization signal; when the measured target, that is, the laser signal receiver 9, receives the signal laser scanning surface signal from the underground scanning satellite 1, it will receive the signal according to the included angle and angular velocity of the laser scanning surface, the arrival time difference of the laser pulse, the time difference between the stroboscopic signal and the laser signal information to determine the space angle information between the measured target and the underground scanning satellite;

2) Through the mathematical model of the dynamic error transfer of the underground scanning satellite positioning system, the dynamic error characteristics of the azimuth and elevation angles of the underground scanning satellite 1 in the acquisition project are obtained, and its dynamic uncertainty resolution model is established to measure the asynchronous angle measurement of the underground scanning satellite. In order to realize the synchronization of angle and time measurement data, the two-point extrapolation method is used to synchronize the acquired information to a time point, so as to reveal the dynamic error transfer law of the underground scanning satellite positioning system in the constrained space of mining operations. . The scanning satellite system has the ability of intelligent dynamic networking and positioning. Through the real-time calculation and judgment of the system, the influence of different humidity, temperature, dust concentration and time error can be reduced, and the intelligent compensation of dynamic tracking and positioning error of mining equipment in the constrained space can be established. effective measures;

3) Combining the spatial information transmitted by the laser signal receiver 9 and the dynamic error of the system, using an effective algorithm for adaptive fast tracking and positioning of underground scanning satellites under complex underground conditions, the control system is based on four angles (aA, aB, bA, bB) and underground Scan the conversion relationship matrix (R _A T _A , R _B T _B ) between satellites A and B, and accurately calculate the three-dimensional space coordinate position P(x,y,z) of the measured target through the principle of space angle intersection, and solve Calculate the spatial coordinates of the underground operation device or person, realize the precise positioning of the operation device or person, and compare with the parameters set by the system at the same time, make a judgment on the correctness of the position of the person and device, and provide a basis for ground control;

4) After the ground control system records the existing spatial coordinates of personnel or devices, execute steps (1)-(3) in a loop;

5) The underground scanning satellite emits scanning laser continuously at 360 degrees according to the angular velocity reflected by the set frequency, and grasps the position information of the underground operation device or human body in real time and with high precision. The ground control system establishes a real-time position information database, and uses the underground scanning satellite to automatically Adapt to the fast tracking and positioning effective algorithm to calculate the real-time speed (direction and speed) of the operating device.

The method of implementing high-precision tracking and positioning of underground scanning satellites is as follows:

1) The basic principle and implementation method of the precise positioning of the underground scanning satellite system

The basic principle of the precise positioning of the underground scanning satellite system is shown in Figure 1.

The underground scanning satellite is a positioning method based on the fusion of GPS positioning concept and laser scanning technology. It emits laser scanning signals instead of microwave signals from GPS satellites. The principle of spatial angle rendezvous adopted by underground scanning satellites, as shown in Figure 1, each underground scanning satellite transmits two laser scanning surfaces with angle information to the surrounding 360-degree space at all times, and the laser signal receiver receives two underground scanning planes. Scan the laser scanning signal emitted by the satellite, and the laser signal receiver feeds back the received information to the control system. When the device of the present invention is installed, the position and spatial coordinate information of the underground scanning satellite are determined and defined strictly according to the algorithm of the present invention. According to the four angles (aA, aB, bA, bB) and the transformation relationship matrix (R _A T _A , R _B T _B ) between underground scanning satellites A and B, the control system can accurately calculate the The three-dimensional space coordinate position P(x, y, z) of the measured target.

2) Method for automatically and accurately obtaining spatial angle information by underground scanning satellites

According to the positioning principle of the underground scanning satellite, we have designed a schematic diagram of the structure of the underground scanning satellite as shown in Figure 2. The underground scanning satellite 1 includes: a total reflection prism 3, a laser transmitter 4, a beam splitter 5, an angle encoder 6, Motor 7, turntable 8. The laser transmitter is located on the upper part of the beam splitter, and a total reflection prism is connected to the lower part of the beam splitter. The total reflection prism is installed on the turntable, the turntable shaft is connected to the motor shaft, and an angle encoder is connected between the turntable and the motor. . When working, the underground scanning satellite rotates at a specific angular velocity, and emits two laser scanning planes with angular information and time synchronization signals to the surrounding 360-degree space. When the measured target (laser signal receiver 9) receives the laser scanning signal, it determines the measured target according to the included angle and angular velocity of the laser scanning surface of the underground scanning satellite 1, the arrival time difference of the laser pulse, the time difference between the strobe signal and the laser signal, etc. The spatial angle information between the target and the underground scanning satellite 1, the implementation plan to be adopted to automatically and accurately obtain the spatial angle information is shown in Figure 3.

3) Automatic and accurate acquisition of spatial angle information by underground scanning satellites Adaptive fast tracking and positioning algorithm

The conditions of the mining operation space are very complicated: the humidity is high, the dust concentration is large, and the space that can be used for angle intersection is restricted and constantly changing, which is a nonlinear dynamic process. The scanning satellite system has intelligent dynamic networking and positioning capabilities, and adopts a dynamic networking scheme based on gray correlation matching theory. Under such complex conditions, the present invention uses the underground scanning satellite positioning system to obtain angle information to accurately and quickly calculate the three-dimensional coordinate position of the measured target, and uses the method of combining nonlinear least square fitting and Kalman filter to realize mining operations Adaptive fast tracking and positioning of underground scanning satellites in space, the specific algorithm flow is shown in Figure 4. The spatial angle information transmitted by the laser signal receiver is obtained, the coordinate information of the underground scanning satellite is retrieved, the least square calculation is performed on the spatial angle information of the laser receiver by the beam adjustment method, and the compensation point is selected by improving the coplanar constraint method to meet The information of the system's preset constraints generates initial coordinates, and the method of combining nonlinear least square fitting and Kalman filtering is adopted to output the optimal value, which is recorded by the control system.

4) Equipment for accurate tracking and positioning of underground scanning satellite positioning system in underground working space

According to the principle of the above-mentioned high-precision positioning method of underground scanning satellites, a device for precise tracking and positioning of operating equipment by using underground scanning satellites in underground working spaces is invented. Figure 5 is a schematic diagram of the high-precision tracking and positioning system taking coal mining equipment in unmanned mining workspace as an example. Determine and define the position and spatial position coordinates of the underground satellites according to the algorithm, place the underground satellites 1 on the hydraulic support 11, and realize the networking of all the underground satellites 1. A wireless switch 10 is installed along the groove 12 on the wall surface of the excavation workspace. The underground scanning satellite 1 works, and emits laser signals at 360 degrees. The laser signal receiver 9 installed on the shearer 13 receives the laser signal, and transmits the spatial angle information to the wireless switch installed on the wall through the wireless switch 10 on the shearer. 10. Utilizing the fiber optic cable transmission network 14, the ground control system 2 receives valid signals. Through the self-adaptive fast tracking and positioning algorithm preset in the industrial computer, the spatial position of the shearer is calculated. A plurality of laser signal receivers 9 are installed on the coal shearer, and an algorithm can be used to calculate the working angle of the coal shearer 13 . The manager can watch the activity situation of the underground mining machine 13 on the computer at the control center on the well at any time.

Claims (2)

1. a underground scanning satellite high-precision tracing positioning apparatus, is characterized in that: underground scanning satellite positioning device comprises: underground scanning satellite, ground control system, laser signal receivers, wireless exchange board; Have a laser signal receivers at least, laser signal receivers is arranged on mobile device or human body; Underground scanning satellite is multiple, and interval is arranged on the top of underground activities face hydraulic support, is 360 degree of Emission Lasers signals during work; Wireless exchange board is located in the ground in work space wall crossheading, and the output terminal of underground scanning satellite is connected with the input end of ground control system by optical cable transmission network, and laser signal receivers is connected by wireless exchange board with ground control system;

Described underground scanning satellite comprises: total reflection prism, generating laser, beam splitter, angular encoder, motor, turntable and ground control system; Generating laser is positioned at the top of beam splitter, is connected with total reflection prism in beam splitter bottom, and total reflection prism is arranged on turntable, and turntable shaft is connected with the axle of motor, between turntable and motor, be connected with angular encoder.

2. the method for underground scanning satellite high-precision tracing positioning apparatus according to claim 1, is characterized in that: underground scanning satellite positioning method: comprise the steps:

1) based on GPS positioning principle, underground scanning satellite utilizes principle of triangulation to set up three-dimensional coordinate system in underground environment, underground scanning satellite rotates with the angular velocity of setting, and towards periphery in 360 degree spaces transmitting two fan laser scanning face with angle information and time synchronizing signal; After measured target and laser signal receivers receive the signal laser scanning plane signal of underground scanning satellite,, strobe signal poor according to the angle in laser scanning face and angular velocity, laser pulse time of arrival and the information of laser signal mistiming, determine that the space angle information between satellite is scanned in measured target and underground;

2) mathematical model is transmitted by underground scanning global position system dynamic error, the position angle and the angle of pitch that obtain underground scanning satellite are obtaining the dynamic error characteristic in engineering, set up its evaluation of uncertainty in dynamic measurement discrimination models, asynchronism and time measurement asynchronism is measured for underground scanning satellite angle, adopt 2 extrapolation methods by the synchronizing information of acquisition to a time point, to realize the synchronous of angle and time measurement data, thus disclose the dynamic error transfer law of scanning global position system in underground in digging operation constraint space; Scanning satellite system has intelligentized dynamic group net station-keeping ability, carry out in real time calculating by system and judge, reduce different humidity, temperature and dust concentrations and the impact of time error, set up the effective measures that dynamic track and localization error intellectuality compensation is equipped in digging in constraint space;

3) in conjunction with spatial information and the system dynamic error of receiver transmission, utilize complex condition underground, underground to scan the quick track and localization efficient algorithm of satellite self-adaptation, control system is according to four angles (aA, aB, bA, bB) and underground scanning satellite A and B between transformational relation matrix ( r _a t _a , R _b t _b ), the three dimensional space coordinate position of measured target is accurately calculated by the principle of space angle intersection p (x, y, z), calculating the volume coordinate of underground work device or people, realize the accurate location to apparatus for work or people, compare with the parameter set by system simultaneously, the position correctness of personnel and device is judged, providing foundation for controlling on the ground;

4), after the existing space coordinate of control system record or device, circulation performs step (1)-(3);

5) scanning satellite in underground is 360 degree of continuation emission scan laser according to the angular velocity that setpoint frequency reflects, real-time high-precision grasps the positional information of underground work device or human body, control system sets up real-time position information database, utilizes underground to scan satellite self-adaptation quick track and localization efficient algorithm and calculates the real-time speed of apparatus for work, direction and speed.