矿井人员位置监测技术

孙继平

doi:10.13272/j.issn.1671-251x.18138

矿井人员位置监测技术

doi: 10.13272/j.issn.1671-251x.18138

孙继平

中国矿业大学(北京) 人工智能学院, 北京　100083

基金项目: 国家重点研发计划项目（2016YFC0801800）。

详细信息

作者简介:
孙继平（1958—），男，山西翼城人，教授，博士，博士研究生导师，中国矿业大学（北京）原副校长；获国家科技进步奖和技术发明奖二等奖4项（第1完成人3项）；作为第1完成人获省部级科技进步特等奖和一等奖8项；作为第１完成人主持制定中华人民共和国煤炭行业、安全生产行业和能源行业标准48项；作为第１发明人获国家授权发明专利100余件；主持制定《煤矿安全规程》第十一章“监控与通信”；被SCI和EI检索的第1作者或独立完成论文100余篇；作为第1作者或独立完成著作12部；作为国务院煤矿事故调查专家组组长参加了10起煤矿特别重大事故调查工作；E-mail：sjp@cumtb.edu.cn

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出版历程
- 收稿日期: 2023-06-10
- 修回日期: 2023-06-20
- 网络出版日期: 2023-07-10

Mine personnel position monitoring technology

SUN Jiping

School of Artificial Intelligence, China University of Mining and Technology-Beijing, Beijing 100083, China

摘要

摘要: 分析了超声波、激光、视频、惯导、计步器、无线电等矿井测距和定位技术，其中，无线电测距和定位具有定位距离远、定位误差较小、不受光照影响、受粉尘影响小、便于身份识别、系统成本较低等优点，宜用于矿井人员定位和矿井人员精确定位。分析了UWB，ZigBee，RFID，5G，WiFi6等无线电测距和定位技术：矿用UWB具有定位距离较远、定位误差最小、成本较低等优点，宜用于矿井人员精确定位系统；矿用ZigBee具有定位距离远、定位误差较小、成本较低等优点，宜用于矿井人员定位系统等；矿用RFID具有系统成本最低等优点，宜用于煤矿井下作业人员管理系统等；矿井5G和WiFi6定位精度低于UWB，系统成本高于ZigBee，不宜用于矿井人员定位和矿井人员精确定位系统。分析了接收的信号强度指示（RSSI）、到达时间（TOA）、到达时间差（TDOA）、双程测距（TWR）、对称双边双程测距（SDS−TWR）、到达角度（AOA）等矿井人员定位算法：RSSI定位法定位误差大，难以满足矿井人员定位和矿井人员精确定位的需求；TOA定位法要求定位卡和分站时钟计时精确并同步，定位卡和定位分站成本高，不宜用于矿井人员定位和矿井人员精确定位；TDOA定位法不要求定位卡与定位分站时钟同步，对定位卡时钟精度要求低，定位卡成本低，但要求定位分站时钟计时精确，定位分站之间时钟同步，定位分站成本高，可用于矿井人员定位和矿井人员精确定位；TWR定位法和SDS−TWR定位法既不需要定位分站与定位卡时钟同步，也不需要定位分站之间时钟同步，更不需要定位卡之间时钟同步，降低了定位卡和定位分站复杂度和成本，宜用于矿井人员定位和矿井人员精确定位；AOA定位法系统复杂、成本高，远距离定位误差大，有定位死角，只能用于直线无障碍定位，定位天线和定位精度受机械振动等影响大，不宜独立用于矿井人员定位和矿井人员精确定位，但可与其他矿井定位方法联合使用。
- 矿井人员定位 /
- UWB /
- ZigBee /
- TDOA /
- TWR /
- AOA
Abstract: This paper analyzes the technologies of mine ranging and positioning, such as ultrasound, laser, video, inertial navigation, pedometer, and radio. Among them, radio ranging and positioning have the advantages of long positioning distance, small positioning error, no impact from light, little impact from dust, easy identification, and low system cos. They are suitable for positioning mine personnel and precise positioning of mine personnel. The paper analyzes radio ranging and positioning technologies such as UWB, ZigBee, RFID, 5G and WiFi6. Mining UWB has the advantages of long positioning distance, small positioning error, and low cost. It is suitable for precise positioning systems for mine personnel. Mining ZigBee has the advantages of long positioning distance, small positioning error, and low cost. It is suitable for mine personnel positioning systems. Mining RFID has the advantage of having the lowest system cost. It is suitable for coal mine underground personnel management systems. The positioning precision of mine 5G and WiFi6 is lower than UWB, and the system cost is higher than ZigBee. It is unsuitable for mine personnel positioning and precise positioning systems. The received signal strength indication (RSSI), time of arrival (TOA), time differences of arrival (TDOA), two-way ranging (TWR), symmetrical double-sided two way ranging (SDS-TWR), angle of arrival (AOA) and other mine personnel positioning algorithms are analyzed. The RSSI positioning method has a large positioning error, making it difficult to meet the needs of mine personnel positioning and precise positioning. The TOA positioning method requires accurate and synchronized timing between the positioning card and the substation clock. The positioning card and substation have high costs. It is unsuitable for mine personnel positioning and precise positioning. The TDOA positioning method does not require synchronization between the positioning card and the positioning sub-station clock. It has low requirements for the precision of the positioning card clock and low cost of the positioning card. However, it requires accurate timing of the positioning sub-station clock and synchronization between the positioning sub-stations. The positioning substation cost is high. It can be used for mine personnel positioning and precise positioning. The TWR positioning method and SDS-TWR positioning method do not require clock synchronization between the positioning substation and the positioning card, nor do they require clock synchronization between the positioning substations, nor do they require clock synchronization between the positioning cards. This reduces the complexity and cost of the positioning card and the positioning substation. It is suitable for mine personnel positioning and precise positioning. The AOA positioning method system is complex, costly, with large long-distance positioning errors and dead angles. It can only be used for straight-line obstacle-free positioning. The positioning antenna and positioning precision are greatly affected by mechanical vibration. It is not suitable for the independent positioning of mine personnel and precise positioning. However, it can be used in conjunction with other mine positioning methods.
- positioning of mine personnel /
- UWB /
- ZigBee /
- TDOA /
- TWR /
- AOA

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图 1 TOA定位法原理

Figure 1. Principle of TOA positioning method

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图 2 TDOA定位法原理

Figure 2. Principle of TDOA positioning method

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图 3 TWR定位法原理

Figure 3. Principle of TWR positioning method

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图 4 SDS−TWR定位法原理

Figure 4. Principle of SDS-TWR positioning method

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图 5 AOA定位法原理

Figure 5. Principle of AOA positioning method

下载: 全尺寸图片幻灯片

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