煤矿井下移动机器人节点三维定位算法研究  

3D positioning research of mobile robot node in coal mine

作　　者：陈宏辉 胡小平 吴开盛 Chen Honghui;Hu Xiaoping;Wu Kaisheng(Engineering Research Center of Advanced Mining Equipment,Ministry of Education,Hunan University of Science and Technology,Xiangtan 411201,China)

机构地区：[1]湖南科技大学先进矿山装备教育部工程研究中心,湘潭411201

出　　处：《电子测量技术》2021年第3期65-70,共6页Electronic Measurement Technology

基　　金：国家自然科学基金(61572185)项目资助。

摘　　要：在煤矿井下移动无线传感器网络中,移动机器人作为网络中的可移动节点,其空间位置的确定对网络的正常运行具有重要作用。针对目前无线传感器网络中三维定位算法精度和实现复杂度难以平衡的问题,将一种二维平面内的基于接收信号强度指示(RSSI)测距的概率质心定位算法扩展到煤矿井下狭长封闭环境中移动机器人节点的三维定位应用,通过在一定显著度下的各锚节点定位球壳求取定位重合区域,并用该区域代替整个机器人节点的分布区域,以重合区域的概率密度质心作为机器人节点的估计位置。通过实验仿真对移动机器人节点定位情况进行了验证,结果表明算法在狭长封闭模拟空间定位精度可以达到0.13 m,基本可实现对移动机器人的空间定位。In the mobile wireless sensor network of underguound coal mine, as the mobile node of the network, the determination of the spatial position of the mobile robot plays an important role in the normal operation of the network. Aiming at the problem that the accuracy and complexity of the three-dimensional positioning algorithm in wireless sensor networks are difficult to balance, extends a probabilistic centroid localization algorithm based on received signal strength indication(RSSI) ranging in a two-dimensional plane to a long and narrow space in coal mines for three-dimensional positioning application of mobile robot nodes. The algorithm adopted the overlapping area, which should be locating spherical shell of anchor node under a certain outstanding degree, replacing the whole distribution area of the robot node estimated position.Then the probability-density-centroid of overlapping area was figured out as the estimated value of the robot node. The position algorithm have been verified by a simulation experiment. The result manifest that the Positioning accuracy can reach 0.13 m in long and narrow space.

关 键 词：移动无线传感器网络 移动机器人 三维定位 RSSI 概率质心 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]