| The orepass is an important device for ore-rock transportation.Serious problems such as deformation,instability and collapse often occur in the process of operation,which cause huge economic losses to mining enterprises.Consequently,the in-depth study of ore migration characteristics in the main orepass which is a guarantee that the main ore-pass of the mine can be continuously and stably put into production,will be of great significance to the whole mining economy.In this paper,the characteristics of ore migration in orepass are discussed and studied with the application of wireless positioning technology.The main work includes:The positioning advantages of Ultra-Wideband technology in complex environment is analyzed and that UWB positioning,as a technical means,is suitable for orepass detection experiment is theoretically demonstrated.The research and analysis show Received Signal Strength Indication(RSSI)positioning technology,easy to be interfered by the external environment,is poor in accurate positioning,that the Angle Of Arrival(AOA)positioning technology needs antenna array and is inappropriate to be applied in multi-path dense environment and that Time Difference Of Arrival(TDOA)positioning technology,in contrast,getting the utmost out of UWB signal,prominent in strong penetration ability,anti-multi-path and high time resolution,has high positioning accuracy.It is concluded that the ranging method based on flight time can effectively reduce the deviation caused by unsynchronized clock by comparing the principles of Time Of Arrival(TOA)and Time of Flight(TOF)positioning technology.Meanwhile,a cooperative positioning method,TOF/TDOA positioning algorithm,is proposed to compensate the disadvantage of TOF technology in positioning accuracy.The algorithm can eliminate clock deviation with the help of TOF bidirectional ranging,and construct nonlinear equations under TDOA model with distance parameters,so that TOF positioning results can be used as the initial value of Taylor iterative algorithm under TDOA.The analysis of the simulation results under the standard noise deviation and Non-Line of Sight(NLOS)deviation environment indicates that the cooperative positioning algorithm,with the characteristics of faster convergence speed and higher positioning accuracy,is apt to realize in engineering.Finally,based on similar principle,a test platform composed of orepass simulation system and wireless positioning system is put up to carry out the experiment.Through the wireless positioning accuracy test experiment in the same experimental environment,the deviation of TOF / TDOA collaborative positioningalgorithm in the three-dimensional space environment is calculated,and on the basis of which,the ore migration characteristics detection experiment is carried out.The irregular motion characteristics of ore blocks in the main orepass are revealed by analyzing the data collected.The experimental results provide a reference for the design,reinforcement and maintenance of orepass. |
PDF Full Text Request