基于MEMS传感器的煤矿井下人员定位系统设计  

Design of personnel positioning system in coal mine underground based on MEMS sensor

作　　者：赵悦[1] 兰英[2] 屈贤[1] ZHAO Yue;LAN Ying;QU Xian(College of Mechanical Engineering,Chongqing Vocational Institute of Engineering,Chongqing 402260,China;The Engineering and Technical College,Chengdu University of Technology,Leshan 614007,China)

机构地区：[1]重庆工程职业技术学院机械工程学院,重庆402260 [2]成都理工大学工程技术学院,四川乐山614007

出　　处：《工矿自动化》2018年第8期87-91,共5页Journal Of Mine Automation

基　　金：四川省教育厅自然科学一般项目(16ZB0403)

摘　　要：针对现有井下人员定位系统存在定位精度低及成本高等问题,设计了基于MEMS传感器的煤矿井下人员定位系统。该系统采用MPU9150惯性传感器获取测量数据,以CC2530为主控芯片实现数据的采集、处理;通过井下已有的WiFi基站,并结合行人航迹推算算法实现井下人员的精确定位:利用融合了行走频率和加速度方差的表达式来确定步长,采用四元数法估计行人方向角,并根据扩展卡尔曼滤波对方向角的原始数据进行修正,从而获得井下人员的具体位置。实验结果表明,在100m距离内,该系统的定位误差小于2.2m,能够实现煤矿井下人员的高精度定位。For problems of low positioning accuracy and high cost existed in current underground personnel positioning system,apersonnel positioning system in coal mine underground based on MEMS sensor was designed.The system uses MPU9150 inertial sensor to obtain measurement data and takes CC2530 as the main control chip to collect and process data.It combines with pedestrian dead reckoning（PDR）algorithm and through existing underground WiFi base station to realize accurate positioning for underground personnel：it uses an expression that combined the variance of the walking frequency and acceleration to determine step length,and uses the quaternion method to estimated pedestrian orientation angle,uses extended Kalman filter to correct the original data,so as to obtain specific location of underground personnels.The experimental results show that the positioning error of the system is less than 2.2 min 100 m,which can achieve high accuracy of personnel positioning in coal mine underground.

关 键 词：煤矿井下 人员定位 MEMS传感器 行人航迹推算 步态估计 扩展卡尔曼滤波 

分 类 号：TD655[矿业工程—矿山机电]