Research And Implementation Of Precise Personnel Positioning System In Coal Mine

Coal resource is the main energy source of China’s economic life,which is widely distributed and rich.However,the mining of coal resources in China is difficult and the risk factor is high,so accurate positioning is an inevitable trend for the development of coal mine personnel positioning.At this stage,UWB positioning technology has become the preferred technology for personnel positioning in coal mines due to its strong stability,long positioning distance,strong penetration and other advantages,but its positioning accuracy is affected by its weak anti multipath interference ability and vulnerability to non line of sight errors.For this reason,this thesis has done the following research on personnel positioning technology and system in coal mines:(1)This thesis introduces the UWB technology and the basic principle of I NS,expounds the common positioning algorithms,analyzes their advantages and disadvantages,selects the appropriate algorithm and improves it.(2)Aiming at the problem that UWB positioning accuracy is affected by multipath interference and non line of sight error in coal mine environment,a robust adaptive Kalman filtering algorithm based on UWB/INS is proposed.The algorithm establishes statistical parameters by adjusting the prediction residuals of the state covariance matrix,and adaptively adjusts the weights of the predicted values and the observed values by adjusting the robustness factor of the observation noise covariance matrix.The experimental results show that,compared with the UWB positioning algorithm,the maximum positioning error of the proposed algorithm is reduced by 2.14 m,the minimum positioning error is reduced by 0.06 m,and the average positioning error is reduced by1.1m;Compared with the UWB/INS adaptive Kalman filter algorithm,the maximum location error of the proposed algorithm is reduced by 0.98 m,the minimum location error is reduced by 0.02 m,and the average location error is reduced by 0.5m.(3)According to the actual working situation of coal mining,this thesis designs a set of precise personnel positioning system in coal mine and tests it.The test results show that the designed system has good stability and can well complete the functions of location query,attendance management and user management of coal mine underground personnel.