Design of personnel positioning system in coal mine underground based on MEMS sensor
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摘要: 针对现有井下人员定位系统存在定位精度低及成本高等问题，设计了基于MEMS传感器的煤矿井下人员定位系统。该系统采用MPU9150惯性传感器获取测量数据，以CC2530为主控芯片实现数据的采集、处理；通过井下已有的WiFi基站，并结合行人航迹推算算法实现井下人员的精确定位：利用融合了行走频率和加速度方差的表达式来确定步长，采用四元数法估计行人方向角，并根据扩展卡尔曼滤波对方向角的原始数据进行修正，从而获得井下人员的具体位置。实验结果表明，在100 m距离内，该系统的定位误差小于2.2 m，能够实现煤矿井下人员的高精度定位。Abstract: For problems of low positioning accuracy and high cost existed in current underground personnel positioning system, a personnel positioning system in coal mine underground based on MEMS sensor was designed. The system uses MPU9150 inertial sensor to obtain measurement data and takes CC2530 as the main control chip to collect and process data. It combines with pedestrian dead reckoning (PDR) algorithm and through existing underground WiFi base station to realize accurate positioning for underground personnel: it uses an expression that combined the variance of the walking frequency and acceleration to determine step length, and uses the quaternion method to estimated pedestrian orientation angle, uses extended Kalman filter to correct the original data, so as to obtain specific location of underground personnels. The experimental results show that the positioning error of the system is less than 2.2 m in 100 m, which can achieve high accuracy of personnel positioning in coal mine underground.
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期刊类型引用(5)
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