长距离地下通道的无人装备定位方法  

Positioning Approach for Long-distance Underground

作　　者：钟映春[1] 王宗洋 王彪 王波 ZHONG Yingchun;WANG Zongyang;WANG Biao;WANG Bo(School of Automation,Guangdong University of Technology;Department of Electro-mechanical Engineering,Guangdong Machinery Technician College)

机构地区：[1]广东工业大学自动化学院 [2]广东省机械技师学院机电工程系

出　　处：《仪表技术与传感器》2024年第3期87-95,共9页Instrument Technique and Sensor

基　　金：广州市科技计划重点项目(202007040004)。

摘　　要：无人装备在地铁隧道、煤矿坑道等地下长距离通道工作时,处于无卫星定位信号、弱光照的环境中,依靠常规方法获取定位坐标存在难度大、误差大、成本高等问题。基于由若干个UWB定位基站构成的定位单元,提出了一种适用于长距离地下通道而且高性价比的定位方法。首先,提出了一种具有高性价比的定位拓扑构型;其次,针对无人装备可能在地下通道中任意位置,研究了初始定位的方法;然后,针对无人装备经过定位单元信号辖区交汇区域时存在的定位单元切换问题,提出了一种动态切换系数方法。测试实验表明:标准矩形的定位单元拓扑比直角三角形、偏π形的拓扑具有更高的定位精度;沿着长距离地下通道采用间断方式布局定位单元的构型比连续布局定位基站的构型具有更高的性价比,且在通道任意位置均达到定位误差δ≤±25 cm的设计要求,定位单元间距小于60 m;在长度为5 km的地下通道中,采用二叉树遍历查找法获取初始定位的用时平均为16 s左右;在信号辖区交汇区域,采用提出的方法切换定位单元,无人装备获取的定位数据无突变,显著减少了定位数据突变对无人装备的冲击。所提出的定位方法可应用于无人装备在长距离地下通道中全自主执行任务。The unmanned equipment operates in an environment devoid of satellite positioning signals and characterized by weak lighting,as it navigates through long-distance underground passages,including subway and coal mine tunnels.Conventional methods of obtaining positioning coordinates are challenging due to their high cost and significant error.A cost-effective positioning approach that is well-suited for long-distance underground tunnels was presented based on the positioning unit(PU)which is constituted by several UWB(ultra wide band)moules.Specifically,a cost-effective positioning topology configuration and an initial positioning method for the unmanned equipment were proposed,which can commence from any position within the positioning topology.Aditionally,a dynamic method for switching coefficients was proposed to facilitate the switching of the positioning unit within the overlap region of the positioning signal range.The physical experiments demonstrate that the toological arrangement of positioning elements in a standard rectangle exhibits superior accuracy in positioning compared to that of a right triangle,partial π forms and other shapes.The configuration of the positioning unit with intermittent layout along the long-distance underground passage demonstrates higher cost-effectiveness than that of the continuous layout positioning base station.The design requirements for positioning error δ≤±25 cm can be met at any position within the underground long-distance passages.In a 5 km underground passage,the binary tree traversal search method typically requires an average of about 16 seconds to obtain initial positioning.The dynamic switching coefficient method is utilized in the overlap region of the positioning signal range,which results in no significant mutations to the positioning data.The positioning method introduced can be applied in unmanned equipment to independently execute tasks within long-distance underground tunnels.

关 键 词：无人装备 长距离地下通道 信号辖区交汇 定位拓扑构型 

分 类 号：TN92[电子电信—通信与信息系统]