基于微型惯性传感器的井下人员跟踪定位系统  

Tracking and positioning system of underground personnel based on miniature inertial sensor

作　　者：康俊瑄 KANG Junxuan(China University of Mining and Technology-Beijing,Beijing 100083,China)

机构地区：[1]中国矿业大学(北京),北京100083

出　　处：《中国安全生产科学技术》2023年第1期73-78,共6页Journal of Safety Science and Technology

基　　金：国家重点研发计划项目(2021YFC3001905)。

摘　　要：为了解决当前煤矿井下使用的WIFI人员定位系统在煤矿井下复杂环境中受到干扰,造成使用精度误差等问题,研究并提出使用微型惯性传感器制作足部轨迹测量传感器,通过惯性轨迹测量算法计算并跟踪井下人员的移动轨迹。使用基于固定阈值的零速检测技术和基于Kalman滤波的零速校正技术估计并校正由于系统长期工作造成的偏移误差。通过实验证明采用微型惯性传感器能够在不依赖于外部传感器的情况下对人员轨迹实现测量跟踪,Kalman滤波的应用能够减少惯性轨迹测量系统造成的长期漂移误差,可避免井下复杂工作环境对定位造成的干扰。In order to solve the problem that the current WIFI personnel positioning system currently used in coal mines is interfered in the complex environment of underground coal mines,resulting in the usage precision errors,it was studied and proposed to use the miniature inertial sensors to make foot trajectory measurement sensors,thus the movement trajectories of underground personnel were calculated and tracked through the inertial trajectory measurement algorithms.The zero-speed detection technology based on fixed threshold and the zero-speed correction technology based on Kalman filter were used to estimate and correct the offset error caused by the long-term operation of the system.It was proved by experiments that the use of miniature inertial sensors could measure and track the personnel trajectories without relying on the external sensors.The application of Kalman filtering could reduce the long-term drift error caused by the inertial trajectory measurement system and avoid the interference to positioning caused by complex underground working environment.

关 键 词：微型传感器 惯性轨迹测量 煤矿安全 KALMAN滤波 

分 类 号：X936[环境科学与工程—安全科学]