煤矿井下节点合作加权质心定位算法  

Weighted centroid localization algorithm based on node cooperation in coal mine underground

作　　者：赵彤 李先圣[1,2] 张雷 丁恩杰 胡延军[1,2] ZHAO Tong;LI Xiansheng;ZHANG Lei;DING Enjie;HU Yanjun(School of Information and Control Engineering,China University of Mining and Technology,Xuzhou 221008,China;Internet of Things（Perception Mine）Research Center,China University of Mining and Technology,Xuzhou 221008,China)

机构地区：[1]中国矿业大学信息与控制工程学院,江苏徐州221008 [2]中国矿业大学物联网(感知矿山)研究中心,江苏徐州221008

出　　处：《工矿自动化》2018年第8期32-38,共7页Journal Of Mine Automation

基　　金：国家重点研发计划资助项目(2017YFC0804401);国家重点基础研究发展计划(973计划)项目(2014CB046305)

摘　　要：针对煤矿井下长距离巷道内人员定位信号存在衰减大、定位精度低的问题,提出了一种节点合作加权质心定位算法。该算法在ZigBee通信环境下,通过参数寻优思想在长距离巷道内人员定位时选择近距离虚拟参考节点(已定位的未知节点)与参考节点合作使用,利用改进的小区域三角形加权质心定位算法对未知节点进行初始定位,然后通过坐标修正确定未知节点的位置。仿真与实验结果表明,利用参考节点与虚拟参考节点合作定位,减少了远距离参考节点的使用,可以解决因距离远导致的信号衰减大的问题,提高了井下人员定位的精度;该算法的平均定位误差为1.5 m,可满足煤矿井下长距离巷道内人员定位精度的要求。In view of problems of large attenuation error and low positioning accuracy of personnel positioning signal in underground long-distance roadway,a weighted centroid localization algorithm based on node cooperation was proposed.Under the ZigBee communication environment,the algorithm selects virtual reference node（unknown node that has been located）at a close distance to cooperate localization with reference node in long-distance roadway,and uses improved small-area triangle weighted centroid localization algorithm to locate the unknown node,uses coordinate correction method to determine position of unknown node.The simulation and experimental results show that the localization of reference nodes and virtual reference nodes can reduce use of long-distance reference nodes,which can solve the problem oflarge signal attenuation caused by long distance and improve the accuracy and stability of underground personnel positioning.The average positioning error of the algorithm is 1.5 m,which meets requirements of personnel location precision in underground long-distance roadway.

关 键 词：煤矿井下 人员定位 长距离巷道 无线传感器节点 虚拟参考节点 节点合作 加权质心定位 坐标修正 

分 类 号：TD655[矿业工程—矿山机电]