基于距离约束的井下目标定位方法

煤矿井下巷道为狭长的条状结构,信号衰减较大,地面已有的目标定位方法和技术难以直接应用于井下,现有的矿井目标定位主要采取基于时间和信号强度的测距方法,而这些方法并没有考虑到井下巷道的条状结构特点,定位误差较大,依据矿井巷道的条状结构特点,提出一种基于距离约束的井下目标定位方法。在巷道内每4个锚节点构成1个矩形区域,将固定的两锚节点之间的距离作为约束条件,结合垂直向量乘积为零的原理,矩形对角线的长度已知,通过基于RSSI的测距原理获得移动节点到矩形区域两对角线上锚节点的距离之比公式,进而通过合理的近似运算和向量乘法定理得到向量方程组,通过求解向量方程组可以得到移动节点的坐标,仿真实验表明该方法可以有效地降低定位误差。

Underground target location method based on distance constraint

The underground coal mine roadway is long and narrow strip structure，signal attenuation is bigger，the existing target positioning methods and techniques cannot be directly applied in underground，the existing mine target mainly adopts ranging method based on time and the signal strength，and these methods are not gave the underground coal mine roadway strip structure characteristics，positioning error is bigger. On the basis of the mine roadway strip structure characteristics，the fixed distance between two anchor nodes was viewed as a constraint condition.An underground target location method was put forward in this paper based on this condition.Every four anchor nodes constituted a rectangular area of which the diagonal’s length was known.A formula of the ratio of the distances between a mobile and two anchor nodes on the diagonal of the rectangular area was got through the ranging method based on RSSI，and then through the vector formula of vertical vector，a vector equations was acquired.The two-dimensional coordinates was obtained by solving the equations.Simulation experiments show that this method can effectively reduce the positioning error.