Coal shearer positioning method based on chain-style base station coordinate fusion
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摘要:
在采煤工作面狭长的空间中，超宽带（UWB）基站呈链式分布，通信信号传输的散射、绕射和衰减等扰动和基站间动态坐标融合机制的缺乏均降低了采煤机定位精度。为提高采煤机在工作面UWB基站下的定位精度，提出了一种基于链式基站坐标融合的采煤机定位方法。建立了适应采煤过程中UWB基站位置动态变化的采煤机运动模型，采用无迹卡尔曼滤波（UKF）处理UWB测量偏转角，建立了基于UWB基站空间分布特征的链式基站坐标融合模型，以减少时变扰动的影响，采用梯度下降法对采煤机和液压支架群间的位置误差进行迭代优化，提升绝对坐标系下采煤机定位精度，并利用卡尔曼滤波（KF）对基站坐标数据进行滤波，消除梯度下降造成的误差叠加，实现高精度定位。实验结果表明：在±40°范围内，UWB测量偏转角经UKF处理后误差为±5°；在基站间天线平行、非平行情况下，KF链式基站坐标融合方法的均方误差（MSE）较传统刚性基站坐标融合分别降低了91.3%，95.8%，均方根误差（RMSE）分别降低了70.5%，95.5%；在基站间无遮挡、部分遮挡及全遮挡条件下，KF链式基站坐标融合方法实现了较高的采煤机定位精度和稳定性。
Abstract:In the narrow and elongated space of the coal mining face, Ultra-Wideband (UWB) base stations are distributed in a chain-like manner. Disturbances such as scattering, diffraction, and attenuation of communication signal transmission, along with the lack of a dynamic coordinate fusion mechanism among base stations, all reduce the positioning accuracy of the coal shearer. To improve the positioning accuracy of the coal shearer under UWB base stations on the working face, a coal shearer positioning method based on chain-style base station coordinate fusion is proposed. A coal shearer motion model adapting to the dynamic position changes of UWB base stations during the mining process was established. The Unscented Kalman Filter (UKF) was used to process the UWB measured deflection angle, and a chain-style base station coordinate fusion model based on the spatial distribution characteristics of UWB base stations was constructed to reduce the influence of time-varying disturbances. The gradient descent method was employed to iteratively optimize the position error between the coal shearer and the hydraulic support group, enhancing the coal shearer positioning accuracy in the absolute coordinate system. Furthermore, Kalman Filter (KF) was applied to filter the base station coordinate data to eliminate error accumulation caused by gradient descent, achieving high-precision positioning. Experimental results showed that within a ±40° range, the error of the UWB measured deflection angle after UKF processing was ±5°. Under conditions of antenna parallelism and non-parallelism between base stations, the Mean Squared Error (MSE) of the KF chain-style base station coordinate fusion method decreased by 91.3% and 95.8%, respectively, compared to traditional rigid coordinate fusion, and the Root Mean Squared Error (RMSE) decreased by 70.5% and 95.5%, respectively. Under conditions of no obstruction, partial obstruction, and full obstruction between base stations, the KF chain-style base station coordinate fusion method achieves higher positioning accuracy and stability for the coal shearer.
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图 3 UWB基站与标签布置实验场景
Figure 3. Experimental scenario of UWB base stations and tags deployment
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图 4 采煤机与液压支架间相对角度滤波效果
Figure 4. Relative angle filtering effect between shearer and hydraulic support
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图 5 基站间天线平行条件下基站坐标散点图及分布直方图
Figure 5. Scatter plot and distribution histogram of base station coordinates under the condition of parallel antennas between base stations
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图 6 基站间天线非平行条件下基站坐标散点图及分布直方图
Figure 6. Scatter plot and distribution histogram of base station coordinates under the condition of non-parallel antennas between base stations
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图 8 不同遮挡程度下基站坐标散点图
Figure 8. Scatter plot of base station coordinates under different degrees of occlusion
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图 9 采煤机移动工况下的定位实验结果
Figure 9. Positioning experiment results under the shearer's moving conditions
表 1 采煤机与液压支架间相对角度滤波误差
Table 1 Relative angle filtering error between shearer and hydraulic support
采煤机与
液压支架间
相对角度/（°）采煤机与
液压支架
垂直距离/mEKF UKF 平均误
差/（°）标准
差/（°）平均误
差/（°）标准
差/（°）−40 1.0 1.676 2 5.360 9 1.162 0 2.034 6 1.6 −0.258 4 4.418 8 0.152 2 2.034 1 40 1.0 3.026 0 3.382 3 2.303 4 1.507 8 1.6 2.381 4 4.680 5 1.898 4 2.149 2 
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表 2 基站间天线平行条件下基站坐标误差对比
Table 2 Comparison of base station coordinate errors under the condition of parallel antennas between base stations
方法 MSE/m2 RMSE/m 刚性基站坐标融合 0.101 782 0.319 033 链式基站坐标融合 0.047 651 0.218 292 KF链式基站坐标融合 0.008 884 0.094 256
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表 3 基站间天线非平行条件下基站坐标误差对比
Table 3 Comparison of base station coordinate errors under the condition of non-parallel antennas between base stations
方法 MSE/m2 RMSE/m 刚性基站坐标融合 7.329 454 2.707 297 链式基站坐标融合 0.141 279 0.375 871 KF链式基站坐标融合 0.014 921 0.122 152
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