The Design And Application Of Integrated Navigation System In The Mine

As a major coal producing country, mine serious accident frequently happened inchina. The geological structure is special and roadway is complex in mine, its extensionsare more than10miles. Once mine disaster happened, it’s hard to positioning accuratelyand to find a right route. So a safe and reliable mine navigation should be designedextremely urgent. At present, wireless is mainly used in mine. Mainstream technicalsolutions are AOA (Angle of arrival), RSSI (received signal strength indicator) and TOA(time of arrival). However, low positioning accuracy is the common weakness of thesesolutions, especially when system needs to receive the whole external information, poorautonomy which makes a great hidden trouble in practical application.First, the research status of the mine navigation home and abroad was analyzed inthis paper, the main problems of existence was described, and the erroraccumulated problem of strop down inertial navigation system and the reliability ofwireless location was mainly researched and demonstrated. For the advantages anddisadvantages of the above navigation system, a mine integrated navigation system thatbased on correction technique of RFID was designed, using the geographic informationof RFID tags and the error equation of SINS, combined with the Kalman filter, gyro driftand accelerometer bias of SINS was estimated and compensation, accordingly, the defectof SINS error accumulated was solved. At the same time, for the problem of algorithmvalidation, the trajectory generator of integrated navigation algorithm was designed fromthe view of engineering, which can produce Inertial Measurement Unit output data,speed and position track data. At last, the algorithm of mine integrated navigationsystem and SINS was proved by trajectory generator. The test results show that the newalgorithm effectively amends the SINS error cumulative. However, thecorrection point interval distance and RFID tags interval remain to be further studied inpractical application.Mine integrated navigation system and hardware platform adopts a double "DSP"structure, respectively, TI’s TMS320F28335and TMS320F6748was used as the coreprocessor. TMS320F28335is used for collecting data of gyroscopes, accelerometers,temperature and RF, and this DSP is also responsible for the inertial sensor temperaturecompensation and RF data decoding work. TMS320F6748is responsible for theimplementation of strap down calculate and data fusion algorithm, man-machineinterface interaction and the solution data storage. The man-machine interaction achieved by3.5inch touch screen and USB2.0interfaces. The XINT parallel bus wasused in the DSP data interaction. Through the integrated debugging and improvement,the expected design requirement was achieved.