基于PDR算法与伪平面技术的井下人员定位方法研究  

Research on positioning method of underground personnel in coal mines based on PDR algorithm and pseudo-plane technology

作　　者：李飞 潘红光[2,3] 魏绪强 陈海舰 郭齐 白俊明 LI Fei;PAN Hongguang;WEI Xuqiang;CHEN Haijian;GUO Qi;BAI Junming(CHN Energy Shendong Coal Group Co.,Ltd.,Yulin 719315,China;College of Electrical and Control Engineering,Xi’an University of Science and Technology,Xi’an 710054,China;Xi’an Key Laboratory of Electrical Equipment Condition Monitoring and Power Supply Security,Xi’an 710054,China;CCTEG Changzhou Research Institute,Changzhou 213025,China)

机构地区：[1]国能神东煤炭集团有限责任公司,陕西榆林719315 [2]西安科技大学电气与控制工程学院,陕西西安710054 [3]西安市电气设备状态监测与供电安全重点实验室,陕西西安710054 [4]中煤科工集团常州研究院有限公司,江苏常州213025

出　　处：《西安科技大学学报》2024年第3期587-596,共10页Journal of Xi’an University of Science and Technology

基　　金：国家重点研发计划项目(2023YFC3009800);陕西省秦创原“科学家+工程师”队伍建设项目(2022KXJ-38);西安市科技计划项目(23ZDCYJSGG0025-2022)。

摘　　要：为了降低行人航位推算(Pedestrian dead reckoning,PDR)算法在进行井下人员定位时产生的累积误差,提出了一种基于PDR算法与伪平面技术的井下人员定位方法。首先,采用惯性导航传感器获取井下人员的步态信息,通过线性步长估计模型和四元数法实现步长估计和方向估计,利用PDR算法推算人员的位置;其次,使用井下人员活动区域以及预设的标记点构建伪平面,并将井下人员位置映射到伪平面坐标上,为降低PDR算法的累积误差做准备;最后,采用SVM进行井下人员活动检测,通过转弯活动判断其是否处于特殊标记点,将PDR解算的位置与伪平面内已知转弯位置标记点进行相关性分析,完成伪平面信息与工人位置的匹配,校准并更新PDR位置,降低累积误差。结果表明:井下工人在完成单个转弯活动过程中,传统PDR算法解算位置平均误差为0.98 m,而进行伪平面修正后平均误差降低到0.31 m;在完成区域性多活动过程中,采用伪平面技术修正后的PDR平均定位误差从1.08 m降低到0.38 m。因此,所提出的井下人员定位方法有效提高了PDR算法的定位精度。Cumulative error occurs when pedestrian dead reckoning(PDR)algorithm is adopted to position underground personnel.To solve this problem,a personnel location method based on PDR algo-rithm and pseudo-plane technology is proposed in this paper.Firstly,the gait information of under-ground personnel is obtained by inertial navigation sensor,the step size estimation and direction estimation are achieved by linear step size estimation model and quaternion method,and the position of personnel is determined by PDR algorithm.Secondly,the pseudo-plane is constructed by using the activity area of underground personnel and the preset marking points,and the location of underground personnel is mapped to the pseudoplane coordinates for reducing the cumulative error of PDR algorithm.Finally,SVM is used to detect underground personnel activities,and the turning activity is used to determine whether they are at special marks.A correlation analysis is performed between the position calculated by PDR and the known turning position marks in the pseudo-plane,so as to match the pseudo-plane information with the workers’positions,calibrate and update the PDR position,and reduce the accumulated errors.The experimental results show that the average position error of the traditional PDR algorithm is 0.98 m,while the average error is reduced to 0.31 m after the pseudoplane correction.In the process of regional multi-activity,the average positioning error of PDR after calibration with pseudo-plane technology is reduced from 1.08 m to 0.38 m.Therefore,the positioning method proposed in this paper could improve the positioning accuracy of PDR algorithm effectively.

关 键 词：井下人员定位 惯性导航 PDR算法 伪平面技术 位置修正 

分 类 号：TD76[矿业工程—矿井通风与安全]