煤矿井下人员融合定位方法

针对飞行时间(TOF)测距定位方法定位盲区多、易受非视距干扰、定位精度有限,捷联惯性导航定位方法长时间累计误差的问题,提出了一种基于TOF测距定位和捷联惯性导航定位的煤矿井下人员融合定位方法。该方法分区域定位:当定位终端位于定位基站近距离无线通信覆盖范围内时,采用TOF测距定位方式,通过近距离无线通信方式将定位数据发送至附近的定位基站;当定位终端位于定位基站近距离无线通信覆盖范围之外时,采用捷联惯性导航定位方式,并利用卡尔曼滤波算法对定位数据进行修正,通过远距离无线通信方式将定位数据发送至附近的定位基站;当定位终端位于定位基站远距离无线通信覆盖范围之外时,定位终端对定位数据进行本地存储,当定位终端移动到定位基站无线通信覆盖范围内时,将存储的定位数据发送给定位基站。定位基站将定位数据传输至地面监控中心,获得人员轨迹和位置坐标。实验结果验证了该方法的有效性。

Fusion positioning method of underground mine personnel

For problems that time of flight(TOF)ranging positioning method has many blind spots and limited positioning accuracy,which is easily interfered by non-line-of-sight,and strapdown inertial navigation positioning method has a long time accumulated error,a fusion positioning method of underground mine personnel based on TOF ranging positioning and strapdown inertial navigation positioning is proposed.The method locates by region.When positioning terminal is located within short-range wireless communication coverage area of positioning base station,TOF ranging positioning method is used to send positioning result to nearby positioning base station through short-range wireless communication mode.When positioning terminal is located outside short-range wireless communication coverage area of positioning base station,strapdown inertial navigation positioning method is used,and positioning data is corrected by Kalman filter algorithm and sent to nearby positioning base station through long-range wireless communication mode.When positioning terminal is located outside long-range wireless communication coverage area of positioning base station,positioning terminal locally stores positioning data.When positioning terminal moves within wireless communication coverage area of positioning base station,the stored positioning data is sent to positioning base station.The positioning base station transmits the positioning data to ground monitoring center to obtain personnel trajectory and position coordinates.The experimental results show the effectiveness of the method.