基于TOA技术和Kalman滤波相结合的井下人员定位系统设计  

Design of Underground Personnel Positioning System Based on Combination of TOA Technology and Kalman Filtering

作　　者：刘世森 郭海军[1,2] 孙维[1,2] 

机构地区：[1]瓦斯灾害监控与应急技术国家重点实验室,重庆400037 [2]中国煤炭科工集团重庆研究院有限公司,重庆400039

出　　处：《煤矿机械》2015年第8期30-33,共4页Coal Mine Machinery

摘　　要：结合煤矿巷道特点,设计了基于TOA测距的井下人员定位算法,建立Kalman滤波模型消除随机误差;定位节点采用nano PAN5375无线射频模块作为核心器件,设计了人员定位系统中的测距系统,详细介绍了标识卡和读卡器的软件、硬件设计,并在煤矿巷道进行了性能测试。实验结果表明,该系统定位精度<3 m,可实现井下人员实时跟踪定位。Combined with the characteristic of coal mine roadway, it designed underground Rersonnel positioning algorithm based on TOA ranging and built Kalman filtering model to eliminate the random error. Node localization was designed by the core device based on nanoPAN5375 radio frequency module, It designed ranging system of personnel precise positioning system.Software and hardware design of identification card and card reader were introduced in detail, and performance test was conducted in coal mine roadway. The experimental results show that positioning accuracy of system is less than 3 m and can realize the real-time tracking of underground personnel positioning

关 键 词：TOA 卡尔曼滤波 标识卡 读卡器 

分 类 号：TP277[自动化与计算机技术—检测技术与自动化装置]