基于降阶组合定位系统的矿井人员定位算法

针对目前的由无线 Wi-Fi定位系统与捷联惯导系统构成的组合定位系统复杂度高且工程实现较困难的问题，提出一种新的降阶微惯性测量装置(MIMU)及其降阶误差模型，并与 Wi-Fi 构成降阶的10维状态变量的组合定位系统。通过采用1个低精度微陀螺仪和2个低精度微加速度计作为惯性传感器设计简易 MIMU 的安装结构，将其与 Wi-Fi定位系统组合，并用降阶卡尔曼滤波技术设计组合定位算法。仿真实验结果表明，该降阶组合定位系统定位响应速度快，定位精度高，在工程上也易于实现，适用于井下人员定位。

Mine personnel position algorithm based on reduced order integrated positioning system

Focused on the issue that the integrated position system was made of Wi-Fi positioning system and strap-down inertial navigation system was very complex and difficult to implement in engineering,a new reduced-order ten d state variables integrated positioning system of a simple micro inertial measurement unit(MIMU)which was composed of the low precision micro inertial sensors and Wi-Fi was proposed.The simple installation structure of MIMU was designed by one low precision micro gyroscope and two low precision micro accelerometer inertial sensor pieces,then it was combined with Wi-Fi location system and Kalman filtering technology was applied to integrated navigation positioning algorithm.The simulation results show that the proposed reduced-order integrated positioning system positioning calculation dimension reduction reduces computational complexity and makes it easy to complement in engineering,meanwhile effectively improves the downhole positioning accuracy,which can be effectively applied to the underground personnel positioning problem.