Research And Implementation Of Underground Personnel Accurate Positioning System Based On UWB

The role of coal resources as "ballast" in China’s energy is irreplaceable.However,it is difficult to mine coal in China,and various safety accidents occur from time to time.Therefore,the construction of high precision mine personnel positioning system is imminent.Based on the study of the existing down hole personnel positioning system,this thesis proposes a new improved algorithm for down hole personnel positioning and completes the design and implementation of the positioning system.The main work includes:(1)The down hole laneway environment,the existing down hole personnel positioning technology and the factors affecting the positioning accuracy of down hole personnel are analyzed and studied.(2)An improved algorithm combining SDS-TWR optimization algorithm and robust Kalman filter is proposed.The algorithm can measure the ranging value from the location tag to two adjacent base stations in a positioning cycle,and use it as two observations of robust Kalman filtering.Then,according to the standardized innovation vector,an adaptive factor is constructed to modify the observation noise covariance matrix,aiming to improve the positioning accuracy and stability of the algorithm and suppress the dynamic NLOS delay error of the laneway.Then a static NLOS error suppression algorithm is integrated on the basis of the improved algorithm to further improve the positioning accuracy.(3)The improved algorithm combining SDS-TWR optimization algorithm and robust Kalman filter is verified by experiments.The experimental results show that under the same conditions,the error of the proposed algorithm is reduced by 35% compared with the S-TDOA algorithm,and 31% compared with the algorithm in the different step measurement,and the error fluctuation is small.At the same time,the dynamic NLOS delay error of the laneway is significantly suppressed.Then the static NLOS error suppression algorithm is verified by experiments.The experimental results show that under the same conditions,the algorithm is more effective in restraining the tunnel static NLOS delay error.(4)A WEB based information management system for precise positioning of down hole personnel is designed and implemented.The system includes positioning information management,alarm management,attendance management,system management and other functions.