庞明瑞 高振航 刘璐 臧悦程

摘  要：针对煤矿井下复杂环境中非视距误差对无线信号定位的干扰，文章设计了区域判定和校正策略减小标签和基站之间的无效通信，提高了定位效率;提出基于UWB的煤矿井下协同定位算法，移动的标签充当定位基站，减少定位盲区提高定位精度;提出改进的自适应卡尔曼滤波算法对协同定位结果进行优化，获取信息向量检验非视距环境误差，并对协方差矩阵进行修正。仿真验证结果表明：改进后的自适应卡尔曼滤波算法结合协同定位算法相比卡尔曼滤波算法结合协同定位算法定位误差更小，可以更好地应用于煤矿井下人员定位中。

关键词：超宽带;煤矿井下定位;区域判定和校正策略;协同定位算法;自适应卡尔曼滤波

中图分类号：TP18     文献标识码：A文章编号：2096-4706（2021）24-0074-07

Abstract： Aiming at the interference of non-line-of-sight errors on wireless signal positioning in complex environment of underground coal mines， this paper designs a regional determination and correction strategy to reduce the invalid communication between tags and base stations， and improves positioning efficiency; an underground coal mine cooperative positioning algorithm based on UWB is proposed， the mobile tag acts as a positioning base station， reducing the positioning blind area and improving the positioning accuracy; an improved adaptive Kalman filter algorithm is proposed to optimize the collaborative positioning result， obtain the information vector to check the non-line-of-sight environment error， and correct the covariance matrix. The simulation results show that the improved adaptive Kalman filter algorithm combined with cooperative positioning algorithm has less positioning error than Kalman filter algorithm combined with cooperative positioning algorithm， and can be better applied to personnel positioning in underground coal mine.

Keywords： ultra-wideband; underground coal mine positioning; area determination and correction strategy; cooperative positioning algorithm; adaptive Kalman filter

0  引  言

煤炭資源在我国能源中仍占主体地位，是我们国家经济社会发展、社会生产生活之中最为关键和紧要的原始材料和能量来源。近年来我国高度重视煤炭行业的安全生产工作，大力建设并完善煤矿井下人员定位系统。煤矿井下人员定位领域逐步追求达到厘米级的定位精度，相关定位技术和产品已经成为许多行业的研究热点。而UWB技术可以凭借较高的定位精度以及自身良好的工作性能，很好地适应于井下工作环境，逐渐成为近年来煤矿井下定位的首选方式。因此，本文基于UWB技术，对煤矿井下人员定位算法进行研究，实现井下人员实时跟踪与精确定位。……