煤矿井下目标定位的研究现状与展望

本文总结了近年来提出的iBeacon井下定位技术、卡尔曼滤波UWB井下动态定位技术、WMSNs视频矿灯定位技术、TWR和SDS-TWR定位方法、异步测时煤矿井下人员定位技术、多传感器信息融合煤矿井下人员定位方法、GRPM煤矿井下人员定位技术、基于改进UWB算法的井下定位以及捷联惯性导航定位技术等井下目标定位技术与方法,并从受巷道及其支护和巷道中导体及障碍物影响大小、是否需要基站/移动终端和参考站之间时钟同步、是否需要参考站之间时钟同步、受基站/移动终端和参考站时钟频率偏移影响大小、基站/移动终端成本、参考站成本和定位精度等方面综合评定各种定位技术的优势和局限性。研发新型组合型井下精密定位系统,使得传输信号不受井下巷道环境影响、无需时钟同步、定位设备复杂度小、基站和参考站建设成本低、定位精度高、定位导航可视化,是实现井下实时位置服务、为井下目标管理提供精准控制以及煤矿智能化开采走向成熟阶段的重要环节。

Status and prospect of research on positioning of targets in underground coal mines

This paper summarizes various positioning techniques developed recently years of personnel/machine in underground coal mines, such as the iBeacon underground positioning technique, UWB technique underground dynamic positioning technique, WMSNs video miner"s lamp positioning technique, TWR and SDS-TWR positioning method, asynchronous time measurement underground coal mine personnel positioning technique, multi-sensor information fusion coal mine personnel positioning Methods, GRPM coal mine personnel positioning technique, positioning of underground shearer based on SNIS/axis encoder, underground targets positioning based on improved UWB algorithm and so on. And from the effects of the conductors and obstacles in the underground roadway and its support and underground roadway, whether the clock synchronization between the base station and the mobile terminal is required or not, whether the clock synchronization between the reference stations is needed or not, and the frequency offset of the mobile terminal and the reference station clock frequency, cost of base station, cost of reference station, cost of mobile terminal and positioning accuracy are comprehensively evaluated for the advantages and shortcomings of a variety of positioning techniques. Research and development of a new combined underground precise positioning system to make that transmission signals are not affected by the underground roadway environment, no need for clock synchronization, small positioning equipment complexity, low construction cost of base stations and reference stations, high positioning accuracy, and visualization of positioning and navigation is the key link to achieve the precise position service, precise control of underground targets management and mature intelligence of coal mines.