Research On Locomotive Positioning Algorithm Based On UWB And Optical Fiber Sensing Technology

In recent years,with the advent of intelligent mine and the state's emphasis on coal mine safety,more and more coal mining enterprises to increase investment in safety management,safety systems and automated mining research,including underground high-precision positioning problem is the first need to solve the problem,has become the research emphasis of relevant scientific research institutions and enterprises.In the underground mining process,mastering real-time location information in the running process of mining locomotives can not only help managers to complete locomotive scheduling accurately and efficiently,improve mining efficiency,but also avoid the occurrence of downhole traffic accidents,and provide guarantee for the safety of downhole personnel and property.In addition,as a typical practical complex environment,the research on the positioning technology in the mine roadway also has certain guiding significance for the high-precision positioning in the complex environment.Aiming at the high-precision positioning problem of coal mine underground locomotive and the limitations of the prior technology,this paper proposes a positioning algorithm model based on ultra-wideband technology and distributed fiber grating sensing technology.Firstly,through the research and analysis of the positioning algorithm based on UWB technology,the positioning algorithm based on the TDOA with higher precision is selected.The positioning error caused by the positioning base station and the mobile tag clock being out of synchronization is compensated by implementing two communication processes between the positioning base station and the mobile station.Select the locomotive main parking points and junction points and other key locations to deploy the positioning base station and collect the priori information required by the model.Then,the vibration measurement points are reasonably deployed in the mine roadway,and the vibration signals are collected by the fiber grating sensing technology.Then,the vibration measurement points are deployed in the mine roadway,and the vibration signals are collected by the distributed fiber grating sensing technology.The vibration signals of the locomotive are analyzed from the time domain and the frequency domain respectively,and select the appropriate signal characteristic parameters to calculate the signal similarity,so as to identify the locomotive vibration signals.Finally,based on the Bayesian theory and the basic law of locomotive driving,this paper proposes a joint target signal tracking model,which calculates the posterior probability of signal state in an iterative way,discriminates the probability of locomotive passing through the vibration measuring point,and realizes the real-time tracking of the running position of the mine locomotive.The simulation results show that the model can complete the real-time positioning of coal mine locomotives and obtain high positioning accuracy.The algorithm uses the iterative method to track and calculate the vibration signal of the locomotive,which reduces the computational complexity.At the same time,the UWB technology and the optical fiber sensing technology are combined to form complementary advantages,reduce the system cost,and have high practical value.It provides reference and reference for high-precision positioning problems in other complex environments.