| Three-dimensional Geographic Information System(3DGIS)is an important part of smart mine.As the core of 3DGIS platform,personnel positioning system plays an important role in the daily operation and safety management of coal mine.3DGIS platform has been widely used in China’s coal mining enterprises for a short time,and most of the corresponding platforms are not mature enough.In the daily operation of the 3DGIS platform(H platform)used by a coal mine enterprise in Shandong Province,it is found that there are some problems in the personnel positioning system,such as personnel positioning deviation from the roadway,historical track passing through the model and so on.This kind of problem will not only cause trouble to the management personnel,but also cause system misjudgment and misoperation,which is a major hidden danger to the safety production of coal mine.To solve them,this thesis takes H platform as an example to undertake the following work:(1)To solve the problem of personnel positioning deviation from the roadway in the platform,a map matching algorithm based on circular arc projection is proposed based on the geometric map matching algorithm and the error characteristics of coal mine UWB positioning system.Firstly,the current base station position is calculated by the trajectory line composed of positioning points.Then,the sphere is constructed with the base station as the center and the distance between the location point and the base station as the radius.Finally,the intersection of the sphere and the roadway is used as the matching point of the positioning point.Furthermore,candidate set and acceleration strategy are used to improve the matching efficiency.The experimental results prove that the algorithm has good matching accuracy and efficiency in coal mine roadway.(2)In order to solve the problem that the missing location data in the platform causes the historical trajectory to pass through the model,a low sampling rate map matching algorithm based on data fusion is proposed.First,the original track is divided into several subtracks according to the connectivity.For each subtrack,a map matching algorithm based on circular arc projection is used to match all the locations into the roadways.Secondly,the k-shortest path with time constraints between subtracks is computed as a candidate path set.Then,data fusion is performed using travel habits and time matching as indicators.Finally,the path with the largest fusion value is chosen as the matching path to complement the locations.Compared with the traditional low sampling rate map matching algorithm,the algorithm takes full account of space-time constraints and personal history data,and improves the accuracy of path matching.Furthermore,according to the regional characteristics of underground roadways in coal mines,the shortest path between each roadway is calculated using Floyd algorithm and the results are persisted,which improves the efficiency of path matching.The experimental results show that the algorithm is superior to the other algorithms in the accuracy of path matching on the missing data sections in underground coal mines.(3)The H platform is upgraded without perception by using micro service architecture.After testing,the algorithm module runs stably and matches well. |
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