基于卡尔曼滤波的矿井人员二维精确定位方法  

Two-dimensional accurate personnel positioning method in underground coal mine based on Kalman filter

作　　者：孙哲星 王彦文[1] SUN Zhexing;WANG Yanwen(School of Mechanical Electronic and Information Engineering,China University of Mining and Technology(Beijing),Beijing 100083,China;Beijing Data Center,China Construction Bank,Beijing 100068,China)

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083 [2]中国建设银行股份有限公司北京数据中心,北京100068

出　　处：《工矿自动化》2018年第5期31-35,共5页Journal Of Mine Automation

基　　金：国家重点研发计划资助项目(2016YFC0801800);国家自然科学基金重点资助项目(51134024);国家高技术研究发展计划(863计划)资助项目(2012AA0622031)

摘　　要：受定位分站和定位卡时钟同步误差、时钟计时误差、多径效应、非视距传播(NLOS)时延误差和电磁骚扰等影响,现有煤矿井下人员定位方法定位误差大,难以满足煤矿事故应急救援、运输和机电事故防治等需求。为提高定位精度,实现煤矿井下人员二维精确定位,提出了基于卡尔曼滤波的矿井人员二维精确定位方法:以定位分站测量到的定位卡到定位分站之间的距离作为卡尔曼滤波中的测量结果,根据建立的矿工在井下移动的数学模型推算出矿工的位置,并作为卡尔曼滤波中的预测结果,通过对测量结果和预测结果进行合理加权,根据上一步卡尔曼滤波后的最佳估计值得出当前时刻的最佳估计值,实现煤矿井下人员二维精确定位。Due to affects of clock synchronization error,clock timing error,multipath effect,not line of sight(NLOS)delay error,electromagnetic disturbance between positioning substation and positioning card,it has large positioning error in the existing personnel positioning methods in underground coal mine and it is difficult to meet requirements of coal mine accident emergency rescue,transportation and electromechanical accident prevention and control.In order to improve positioning accuracy and achieve two-dimensional accurate personnel positioning in underground coal mine,a two-dimensional accurate personnel positioning method in underground coal mine based on Kalman filter was proposed:the distance between positioning card and positioning substation measured by the positioning substation is taken as measurement result of Kalman filter,the miner's position is calculated by established mathematical model of underground miner movement,which is taken as prediction result of Kalman filter.The measurement results and the prediction results were weighted reasonably,the best estimate value at the current time is obtained from the best estimate value after the previous step by Kalman filter,so as to realize two-dimensional accurate personnel positioning in underground coal mine.

关 键 词：煤矿通信 人员定位 精确定位 二维定位 时间测距 卡尔曼滤波 

分 类 号：TD655[矿业工程—矿山机电]