摘要
分析了矿井巷道中的设施及设备导致的无线信号传播NLOS时延特点,采用几何光学方法论证了NLOS时延参考模型在矿井巷道环境中的适用性并提出矿井巷道NLOS时延分为巷道突发NLOS时延和巷道固定NLOS时延,为了消除NLOS时延对TOA定位精度的不利影响,提出基于卡尔曼滤波和指纹定位的矿井TOA定位方法.对于机车及不规律设置设备造成的巷道突发NLOS时延,提出基于卡尔曼滤波的方法消除其对TOA数据造成的较大误差,在此基础上提出基于历史和卡尔曼阈值的最近邻居指纹定位方法,抑制固定设施及规律设置设备造成的巷道固定NLOS时延引起的定位误差.结果表明,本文方法的定位性能优于SDS-TWR方法和基于SDS-TWR的指纹定位方法,定位实验的平均误差分别降低了3.6,1.2 m,提高了矿井TOA定位的精度,实现矿井人员的精确定位.
This study analyzed the non line of sight(NLOS)delay characteristics of wireless signal propagation produced by facilities and equipment within mine tunnels,demonstrating the adaptability of an NLOS delay reference model.We propose that NLOS delay in mine tunnels can be classified into tunnel NLOS burst delay and fixed delay.A time of arrival(TOA)mine positioning method was developed on the basis of Kalman filtering and fingerprint positioning to eliminate the adverse effect of NLOS delay on TOA positioning precision.For tunnel NLOS burst delay,caused by the engine or irregularly-set equipment,a method based on Kalman filtering was presented to eliminate the relatively large errors it initiated in TOA data.Based on this method,the historic nearest neighbor fingerprint positioning method and Kalman threshold was proposed to the positioning errors produced by tunnel NLOS fixed delay of fixed facilities and regularly-set equipment.The results show that the positioning of this method is an improvement in the symmetric double-sided two-way ranging(SDS-TWR)and the fingerprint positioning method based on SDS-TWR in terms of performance.The average errors in the positioning experiments decreased by 3.6mand 1.2m,respectively.Thus,the precision of mineTOA positioning was improved,and a precise positioning of mine personnel was achieved.
出处
《中国矿业大学学报》
EI
CAS
CSCD
北大核心
2014年第6期1127-1133,共7页
Journal of China University of Mining & Technology
基金
国家自然科学基金重点项目(51134024)
国家高技术研究发展计划(863)项目(2012AA062203)
关键词
矿井
人员定位
TOA
NLOS
卡尔曼滤波
指纹定位
coal mine
personnel positioning
TOA
NLOS
Kalman filtering
fingerprint po-sitioning
