RFID辅助INS/里程计的人员定位在数字矿山中的应用  

The Application of INS/Odometer Integrated Personal Position System with FRID in Digital Mining

作　　者：高井祥[1] 钱妮佳 GAO Jing-xiang;QIAN Ni-jia(China University of Mining and Technology, Jiangsu Key Laboratory of Resources and Environmental Information Engineering, Xuzhou Jiangsu 221116, China)

机构地区：[1]中国矿业大学环境与测绘学院,江苏徐州221116

出　　处：《现代测绘》2017年第6期1-5,共5页Modern Surveying and Mapping

基　　金：国家重点研发计划资助项目(2016YFC0803103);国家自然科学基金项目(41674008;41604006)

摘　　要：井下人员定位是实现数字矿山的重要组成部分。INS/里程计组合系统用于井下定位已经无法满足高精度的需求,且两类传感器均存在累积误差,因此,提出一种利用射频识别(RFID)辅助的INS/里程计的人员定位算法。首先介绍了INS/里程计组合定位的系统状态模型和观测值模型,给出了RFID辅助模型的观测值,为提高传感器组合稳定性,引入联邦滤波器,给出基于RFID辅助INS/里程计的人员定位系统具体流程,最后进行模拟实验,验证了算法的有效性。结果表明,通过RFID提供的高精度位置观测值能有效提高INS/里程计井下人员定位效果,联邦滤波器提高了滤波的收敛速度和精度,平面精度提高了1/3左右,确保了井下人员长时间定位的精度要求。Personal position technologies for underground mine is one important section to realize digital mine.INS/Odometer integrated system is difficult to meet the acquirement of high accuracy personal position for underground mine.The INS（inertial navigation system）and Odometer have the problem of accumulation error.INS/Odometer integrated personal position system with RFID（radio frequency identification）was proposed to solve the above problem.Firstly,system dynamic model and observation model of INS/Odometer integrated position system is built.The observation of RFID aided model is constructed.The federated filter is introduced to increase the filter stability.Based on that,the detail process of INS/Odometer integrated personal position system with RFID is proposed.Experiment of simulated data was made to verify the position accuracy.The results of the experiment indicate that the INS/Odometer integrated position performance is increased substantially by position modification of RFID.The federated filter is able to increase the filter convergence speed and accuracy.Plane precision of real-time position increased about 1/3,which is able to meet the needs of position accuracy for underground mine person.

关 键 词：惯性测量系统 里程计 射频识别 联邦滤波器 数字矿山 

分 类 号：TD672[矿业工程—矿山机电] P25[天文地球—测绘科学与技术]