Tracking and spatial location system of magnetic sensors and tracking and location method

1. A tracking and spatial location system of magnetic sensors, comprising:

a plurality of sensors transmitting magnetic fields; and

at least one collector reader and a processor of the magnetic fields emitted by the plurality of sensors;

wherein the plurality of sensors are configured to communicate with the at least one collector by a communication protocol including transmission frames used both in the plurality of sensors and in the at least one collector, wherein the communication protocol includes transmitting the transmission frames in the direction of the at least one collector to the plurality of sensors followed by a reverse transmission from the plurality of sensors to the at least one collector, for each of the at least one sensors in the tracking and spatial location system.

2. The tracking and spatial location system of claim 1 , wherein the at least one collector includes:

a receiving subsystem for receiving and sending magnetic signals;

a transceiver subsystem for sending and receiving signals from the receiving system;

a processing subsystem to store and process information received by the at least one collector;

a self-locating subsystem to provide a location of the at least one collector to the processing subsystem;

an energization subsystem for energizing the at least one collector;

a visualization and user interface subsystem to present the information processed by the at least one collector; and

a near field transmission subsystem to determine an angular positioning of the at least one collector.

3. The tracking and spatial location system of claim 2 , wherein the receiving subsystem of the at least one collector comprises antennas of at least one plane.

4. The tracking and spatial location system of claim 2 , wherein the at least one collector is fixed on a mechanical support that provides a rotation in two perpendicular axes by motors automatically controlled by the at least one collector, changing the angular positioning of the at least one collector.

5. The tracking and spatial location system of claim 4 , wherein the mechanical support is configured to be fixed on a vehicle to move the at least one collector.

6. The tracking and spatial location system of claim 1 , wherein each sensor of the plurality of sensors comprises:

an antenna made of a material with a high magnetic permeability;

an amplification subsystem to amplify signals coming and going to the antenna;

a conversion subsystem for converting the signals received by the antenna from analog to digital or from digital to analog;

a modulation and demodulation subsystem for retrieving or entering information;

an information processing subsystem;

an information storage subsystem;

an energy management subsystem to energize the sensor; and

a mechanical encapsulation resistant to mechanical compression to house sensor elements of the sensor.

7. The tracking and spatial location system of claim 6 , wherein the antenna of the sensor is three-dimensional.

8. The tracking and spatial location system of claim 1 , wherein the communication protocol is configured to define an optimal communication frequency to be applied to the tracking and spatial location system.

9. The tracking and spatial location system of claim 8 , wherein the optimal frequency is defined by:

i. defining an initial frequency (F 0 ) of operation based on prior knowledge of a depth and geological characteristics of a soil in which the plurality of sensors are inserted;

ii. sending a first signal from the at least one collector to a sensor at the initial frequency (F 0 );

iii. receiving the signal emitted by the at least one collector and transmitting a first response from the sensor to the at least one collector;

iv. measuring and storing a power received by the at least one collector generated by the initial frequency (F 0 );

v. sending a new signal to the sensor with a higher frequency (FS) defined as the initial frequency (F 0 ) plus a frequency interval (IF);

vi. receiving the new signal by the sensor and transmitting a second response from the sensor to the at least one collector in a next time frame;

vii. measuring and storing an upper power (P+) received by the at least one collector for the higher frequency (FS) transmitted;

viii. if the upper power (P+) is higher than the initial power (P 0 ), informing the sensor and using the upper frequency (FS) as the optimal frequency for the sensor;

ix. if the upper power (P+) is lower than the initial power (P 0 ), sending from the at least one collector ( 2 ) another new signal to the sensor with a lower frequency (Fl) defined as the initial frequency (F 0 ) minus the frequency range (IF);

x. receiving the another new signal by the sensor and transmitting a third response from the sensor to the at least one collector in a subsequent time frame;

xi. measuring and storing the lower power (P−) received for lower frequency (Fl);

xii. if the lower power (P−) is greater than the initial power (P 0 ), informing the sensor and using the lower frequency (Fl) as the optimal frequency for the sensor; and

xiii. if the lower power (P−) is less than the initial power (P 0 ), using the initial frequency (F 0 ) as the optimal frequency for the sensor.

10. The tracking and spatial location system of claim 1 , wherein the tracking and spatial location system is applied in ore extraction operations in open pit mines, wherein the plurality of sensors are inserted in detonation holes in benches and the plurality of sensors are located after dismantling the benches by the at least one collector.

11. The tracking and spatial location system of claim 10 , wherein the plurality of sensors are fed with geological information about a blasting hole in which the plurality of sensors are inserted, classifying the blasting hole as ore or barren.

12. The tracking and spatial location system of claim 11 , wherein the tracking and spatial location system determines a probability of a sensor located to be in a region of high or low content ore.

13. The tracking and spatial location system of claim 10 , wherein the tracking and spatial location system is applied in ore extraction operations in underground mines, fixing the plurality of sensors on equipment and people and locating the equipment and the people through the at least one collector.

14. A tracking and location method, comprising:

i. inserting a plurality of pilot sensors in known locations in a region to be explored;

ii. transmitting a signal of a known power by each of the plurality of pilot sensors in a sequential manner;

iii. measuring and storing a power emitted by each of the plurality of pilot sensors by a plurality of sensors;

iv. measuring and storing the power emitted by each of the plurality of pilot sensors through at least one collector;

v. sending the power of each of the plurality of sensors to the at least one collector;

vi. changing a first position of the at least one collector to a second position also known and repeating steps ii to v;

vii. changing the second location of the at least one collector again to a third position also known and repeating steps ii to vi;

viii. estimating a position of each of the plurality of sensors in relation to each of the plurality of pilot sensors; and

ix. determining a probability of a density of a positioning region of each of the plurality of sensors to be of high or low content of ore concentration.

15. The tracking and location method according to claim 14 , wherein a frequency of signal transmission emitted in step ii is an optimal frequency defined by a communication protocol.

16. The tracking and location method according to claim 14 , wherein an estimation of the position of each of the plurality of sensors in step viii is performed by processing a mean quadratic error between a signal level measured by the plurality of sensors and the at least one collector and an expected signal level.

17. The tracking and location method according to claim 16 , wherein the expected signal level is defined based on a propagation model that depends on characteristics of a material.

18. The tracking and location method according to claim 14 , wherein determination of the probability of the density of the positioning region of each of the plurality of sensors being of high or low content of ore is given by an application of a hypothesis test which calculates a likelihood ratio obtained by dividing (i) algebraic sums of K probability density functions corresponding to positions of the plurality of sensors with high content (numerator), and (ii) the algebraic sums of L probability density functions of the positions of the plurality of sensors with low content (denominator).