基于改进HMM纠偏算法的露天矿车辆高精度定位方法  

A high-precision positioning method for open-pit mine vehicles based on improved HMM deviation correction algorithm

作　　者：阮顺领[1,2] 李孟 顾清华[1,3] 卢才武 Ruan Shunling;Li Meng;Gu Qinghua;Lu Caiwu(School of Resource Engineering,Xi􀆳an University of Architecture and Technology,Xi􀆳an Shaanxi 710055,China;Xi􀆳an Key Laboratory of Intelligent Industry Perception Computing and Decision Making,Xi􀆳an Shaanxi 710055,China;Xi􀆳an U-Mine Intelligent Research Institute Co.,Ltd.,Xi􀆳an Shaanxi 710055,China)

机构地区：[1]西安建筑科技大学资源工程学院,陕西西安710055 [2]西安市智慧工业感知与决策重点实验室,陕西西安710055 [3]西安优迈智慧矿山研究院有限公司,陕西西安710055

出　　处：《矿业科学学报》2023年第3期381-389,共9页Journal of Mining Science and Technology

基　　金：国家自然科学基金(52074205);陕西省自然科学基础研究计划(2022JM-201)。

摘　　要：针对露天矿区复杂路网背景下容易出现车辆定位偏差,严重影响生产车辆路径规划和智能调度的问题,提出了一种基于改进隐马尔可夫模型的露天矿车辆高精度定位纠偏方法。通过对构建的露天矿复杂路网地图进行路段裁剪处理以及对矿车定位轨迹数据清洗、密度稀疏化和分段处理等,建立缓冲区搜索轨迹候选路段点,从而提高复杂路网下矿车定位纠偏效率;通过计算矿车定位观测概率和转移概率建立定位纠偏HMM优化模型,并结合Viterbi算法计算最优纠偏结果,实现对露天矿车的高精度定位纠偏。研究结果表明,该方法纠偏效果优于原始HMM定位纠偏方法,纠偏准确率可达到89.2%,平均纠偏时间仅需0.055 s,能够实现对复杂背景下露天矿车辆定位坐标的有效纠偏。Vehicle location deviation could easily occur in complex road network of open-pit mines,which seriously affect production vehicle route planning and intelligent scheduling.In this light,this study proposed a method for high-precision positioning and rectification of open pit minecars based on an improved HMM(Hiddden Markov Model).Specifically,this study clipped the road section by the complex road network map of the constructed open-pit mine,and cleaned the positioning trajectory data of the minecart,whose density was sparsed and segmented;a buffer zone was established to search for candidate road points of the trajectory,so as to improve the efficiency of the minecart positioning and correction under the complex road network;the HMM optimization model of positioning deviation correction was established by calculating the positioning observation probability and transition probability of the minecart.The optimal deviation correctionwas conducted in combination with the Viterbi algorithm to achieve high-precision positioning and deviation correction of the open-pit minecart.Results indicate that the method produces a better correction effect than the original HMM positioning correction method,the correction accuracy can reach 89.2%,and the average correction time is only 0.055 s.This could effectively correct the positioning coordinates of open-pit mine vehicles under complex backgrounds.

关 键 词：露天矿 定位纠偏 隐马尔可夫模型 VITERBI算法 

分 类 号：TD57[矿业工程—矿山机电]