煤矿井下UWB人员定位系统研究

张海军; 孙学成; 赵小虎; 闫坤程

doi:10.13272/j.issn.1671-251x.17824

煤矿井下UWB人员定位系统研究

doi: 10.13272/j.issn.1671-251x.17824

1. 山煤国际能源集团股份有限公司煤业管理公司晋北分公司, 山西大同 037101;
2. 矿山物联网应用技术国家地方联合工程实验室, 江苏徐州 221008;
3. 中国矿业大学信息与控制工程学院, 江苏徐州 221008

基金项目:

国家重点研发计划项目（2017YFC0804404）。

详细信息

作者简介:
张海军(1975-),男,山西阳城人,高级工程师,主要从事煤矿机电设备智能化研究工作,E-mail:chlangren@163.com。

中图分类号: TD67
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出版历程
- 收稿日期: 2021-08-09
- 修回日期: 2022-02-07
- 网络出版日期: 2022-03-01

Research on UWB personnel positioning system in coal mine

1. Jinbei Branch of Coal Industry Management Co., Shanxi Coal International Energy Group Co., Ltd., Datong 037101, China;
2. The National and Local Joint Engineering Laboratory of Internet Application Technology on Mine, Xuzhou 221008, China;
3. School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221008, China

摘要

摘要: 针对煤矿井下复杂环境中非视距（NLOS）干扰影响无线信号传输问题，设计了一种煤矿井下超宽带（UWB）人员定位系统。该系统采用带有回传帧机制的非对称双边双向测距算法进行测距，无需时钟同步，保证了测距精度；采用区域判定策略和区域校正策略划分定位区域，使得标签只与自身所在定位区域内基站通信实现定位，避免了定位过程中的大量无效帧问题，提高了定位效率；采用加权最小二乘法与无损卡尔曼滤波联合定位算法解算标签位置坐标，提高了定位精度；在基站中配置了备用电源，保证在断电情况下的应急供电；采用以太网与LoRa 2种通信方式，在以太网断线情况下以LoRa方式传输测距数据，保证了系统应急通信。测试结果表明：该系统具有较高的动静态定位精度，抗NLOS干扰能力较强；在基站断电或以太网断线情况下，系统能够实现一段时间内的应急通信。
- 矿井人员定位 /
- 超宽带定位 /
- 抗非视距干扰 /
- 二维区域判别 /
- 非对称双边双向测距 /
- 加权最小二乘法 /
- 无损卡尔曼滤波 /
- LoRa通信
Abstract: In order to solve the problem that non-line-of-sight(NLOS) interference affects wireless signal transmission in complex underground environment of coal mines, an ultra wide band(UWB) personnel positioning system in coal mine is designed. The system uses asymmetric double-sided two-way ranging algorithm with return frame mechanism for ranging without clock synchronization, which ensures the ranging precision. The positioning area is divided by the area discrimination strategy and the area correction strategy, so that the tag can only communicate with the base station in the positioning area to achieve positioning, which avoids a large number of invalid frames in the positioning process and improves the positioning efficiency. The weighted least squares method and the unscented Kalman filter joint positioning algorithm are used to solve the tag position coordinates, which improves the positioning precision. A backup power supply is configured in the base station to ensure emergency power supply in case of power failure. Two communication modes, Ethernet and LoRa, are adopted. When the Ethernet is disconnected, the ranging data is transmitted in the LoRa mode, which ensures the emergency communication of the system. The test results show that the system has high dynamic and static positioning precision and strong anti-NLOS interference capability. When the base station is powered off or the Ethernet is disconnected, the system can realize emergency communication for a period of time.
- mine personnel positioning /
- ultra wide band positioning /
- anti-non-line-of-sight interference /
- two-dimensional area discrimination /
- asymmetric double-sided two-way ranging /
- weighted least squares method /
- unscented Kalman filter /
- LoRa communication

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