Abstract: A centralized cooperative positioning method includes: caching measurements of nodes in multiple time slices up to the current time slice; calculating location information of the nodes in the multiple time slices to obtain trajectory of the nodes in the multiple time slices; performing initial state estimations of the nodes based on measurements of a single time slice; and using the initial state estimations as initial solution values, performing the joint time-space processing on the measurements of the nodes in the multiple time slices based on trajectory constraints, to obtain a state estimation of each node at the current time slice, in which the state estimation includes an estimated value of a location of the node.

Abstract: Provided is a fracturing relief method for stress concentration of remaining ore pillars in an overlying goaf, including first, performing directional fracturing on a roof to optimize the stress of the roof and reduce the source of force; secondly, performing pulse fracturing on a coal pillar to produce a crack network, weaken the stiffness of the coal pillar and reduce the bearing capacity of the coal pillar; and finally, performing pulse fracturing on a floor strata of the coal pillar to reduce the ability of transferring stress concentration thereof. A drilling machine is used for separately constructing fracturing drill holes in a roadway to a set depth at an interval in a direction oblique to the coal pillar in an upper goaf. The roof, the coal pillar and the floor can be fractured by an oblique fracturing hole in a sublevel retreating manner. The position of the directional fracturing of the roof is approximately 1 m above the middle of a main roof above the coal pillar.

Abstract: Provided is a fracturing relief method for stress concentration of remaining ore pillars in an overlying goaf, including first, performing directional fracturing on a roof to optimize the stress of the roof and reduce the source of force; secondly, performing pulse fracturing on a coal pillar to produce a crack network, weaken the stiffness of the coal pillar and reduce the bearing capacity of the coal pillar; and finally, performing pulse fracturing on a floor strata of the coal pillar to reduce the ability of transferring stress concentration thereof. A drilling machine is used for separately constructing fracturing drill holes in a roadway to a set depth at an interval in a direction oblique to the coal pillar in an upper goaf. The roof, the coal pillar and the floor can be fractured by an oblique fracturing hole in a sublevel retreating manner. The position of the directional fracturing of the roof is approximately 1 m above the middle of a main roof above the coal pillar.

Abstract: A stress-transfer method in tunnel with high ground pressure based on fracturing ring. According to the stress source of the tunnel, fracturing by drilling holes to form artificial weaken zones in surrounding rocks, that's named fracturing ring. The fracturing ring is the weaken zone with some width, whose inner boundary is the protective circle. The fracturing ring with small width is called the cutting and interruption circle and the cutting or interruption arc. The radius of the protective circle is determined by setting a certain width of safety coal pillar barriers at the edge of a support body. The radius of the fracturing ring is determined by the surrounding rock structure and the stress conditions as well as the construction technology. Usually, the higher the stress, the wider the radius of the fracturing ring. The cutting and interruption circle or arc could cut off all of the targeted rock which transmits the stress.

Abstract: A stress-transfer method in tunnel with high ground pressure based on fracturing ring. According to the stress source of the tunnel, fracturing by drilling holes to form artificial weaken zones in surrounding rocks, that's named fracturing ring. The fracturing ring is the weaken zone with some width, whose inner boundary is the protective circle. The fracturing ring with small width is called the cutting and interruption circle and the cutting or interruption arc. The radius of the protective circle is determined by setting a certain width of safety coal pillar barriers at the edge of a support body. The radius of the fracturing ring is determined by the surrounding rock structure and the stress conditions as well as the construction technology. Usually, the higher the stress, the wider the radius of the fracturing ring. The cutting and interruption circle or arc could cut off all of the targeted rock which transmits the stress.