基于UWB与激光测距的地下铲运机井下定位系统  

Fusion underground positioning system of UWB and laser range technology for Underground LHD

作　　者：石潇杰 李恒通 石峰 郭鑫 高泽宇 SHI Xiaojie;LI Hengtong;SHI Feng;GUO Xin;GAO Zeyu(BGRIMM Technology Group,Beijing 100160,China;BGRIMM Machinery and Automation Technology Co.,Ltd.,Beijing 100160,China)

机构地区：[1]北京矿冶科技集团有限公司,北京100160 [2]北矿机电科技有限责任公司,北京100160

出　　处：《有色金属（矿山部分）》2020年第2期81-83,共3页NONFERROUS METALS(Mining Section）

基　　金：北京市科技计划项目(Z171100000917009)。

摘　　要：地下铲运机在井下巷道环境中无法通过接收GPS信号来实现车辆的定位,因此需要搭建其他定位系统来替代。UWB定位系统通过基站与车载标签进行车辆井下位置定位。由于地下巷道狭长的特点,单一的UWB定位成本很高。对此展开研究,在地表搭建模拟巷道分别对UWB定位系统与UWB与激光测距融合定位系统进行测试,实验表明两种定位系统误差相距不大,都可满足使用要求,但采用UWB与激光测距融合定位系统可以极大的降低UWB基站的使用数量,从而降低系统成本。The underground LHD cannot be located by receiving GPS signal in the underground tunnel environment,therefore,it is necessary to build other positioning system.UWB(Ultra-Wide Band)system can locate the LHD through the UWB sensor and UWB tags.,while the cost of UWB is very high,attributed to the narrow and long characteristics of underground tunnels.In this paper,the simulation tunnel was built on the surface to test the UWB positioning system and the UWB and laser fusion positioning system,respectively.The experiment indicated that these two positioning systems can both meet the requirements for use.However,the use of UWB and laser fusion positioning system can greatly reduce the number of UWB sensors,further to reduce the system cost.

关 键 词：地下铲运机 UWB定位系统 UWB与激光测距融合定位系统 

分 类 号：TD422.4[矿业工程—矿山机电]