矿井环境高精定位技术研究现状与发展

地下矿山开采环境恶劣，井下设备的自动化、智能化发展势在必行。井下设备高精度自主定位技术是推动地下智能开采的关键技术之一。为了系统地了解和研究国内外矿井设备定位技术的发展情况和问题所在，基于国内外井下设备高精定位的研究现状分析，综合评述了当前井下定位的核心技术和发展前景。首先归纳了井下常用的环境感知传感器；然后根据井下设备定位的技术手段、硬件基础及算法特点，对当前的研究成果进行了归类分析；最后进行了总结展望，认为不需要外部设备辅助的多传感器融合技术（如基于SLAM的定位方法）是当前地下矿山井下设备定位发展的必然趋势。

Research Situation and Development of High-precision Positioning Technology for Underground Mine Environment

The environmental conditions in underground mines are harsh.In recent years，with the continuous increase in the mining depth of underground mines and the improvement of mining technology requirements，the underground mines are faced with the bad environment of high temperature and high ground pressure，and the working conditions of underground mines workers have become more complex.Ensuring the safety and health of underground personnel is of great significance to promote the stable development of mining enterprises，and it is also one of the core contents of contemporary mine intelligent construction.Therefore，with the rapid development of technologies in the fields of big data，Internet of Things（IOT），unmanned driving and three-dimensional visualization，it is imperative to develop the automation and intelligence of underground equipment.For underground mines，the high-precision autonomous positioning technology of downhole equip-ment is one of the key technologies to promote underground intelligent mining，and it is also the basic guarantee for the realization of automated mining of underground mining equipment.High-precision positioning can ensure that underground personnel and equipment are within an accurate measurable range.At the same time，it is also particularly critical to advance the construction of underground unmanned equipment mining platforms （such as the development of underground LHD）.Based on the existing research results of high-precision positioning of underground equipment at home and aboard，after analyzing its development status，the categories of downhole equipment positioning sensors and the latest positioning technologies developed on this basis were summarized，which can be divided into two categories：One is the positioning technology that requires the addition of external equipment in the mine environment for auxiliary positioning，and the other is the positioning technology that only relies on the sensors carried by the equipment itself.The core technology and development prospects of underground mine high-precision positioning were put forward.This paper mainly introduces the current technical status，technical characteristics and development trend of underground mines equipment positioning.Firstly，the environmental sensing sensors commonly used in underground mines was summarized.Then，according to the technical means，hardware basis and algorithm characteristics of un-derground equipment positioning，the current research results were classified and analyzed.After analyzing and comparing the advantages and disadvantages of various positioning technologies，a summary and prospect were made，and it is considered that multi-sensor fusion technology without the assistance of external equipment（such as SLAM-based positioning method） is the inevitable trend of underground equipment positioning development in underground mines，so as to ensure the stability and accuracy of underground mine positioning to promote mine development smoothly entered the stage of true intelligence.