基于捷联惯性导航的井下人员精确定位系统

The precise positioning system of the mine personnel in coal pit based on strapdown inertial navigation

针对目前井下人员无法精确定位的问题,根据人员移动速度慢、方向多变的特点,研究出基于捷联惯性导航技术的井下人员精确定位方法.通过选择灵敏度高的惯性传感器,检测人员运动的三轴加速度和角速度数据,通过角速度值计算人员运动的姿态角,利用姿态信息对加速度数据进行坐标变换,进而解算出载体在运动方向上的速度和相对于定位坐标系的移动里程信息,完成对载体的定位功能.针对传感器的随机误差影响定位精度的问题,提出利用UFK滤波算法对位置计算中需要的姿态信息进行最优估计,提高定位精度.对系统长时间积累误差使用射频路标修正.完成了定位系统软硬件设计,在试验中取得较好效果.

On account of the mine personnel can not be precise orientation currently, studied a method of the mine personnel orientation based on strapdown inertial navigation technology. According to the characteristics of people, sush as move slowly and have muhivariant directions, developed a method of personnel mine precise positioning that based on strapdown inertial navigation. Selected the high sensitivity of the inertial sensors to detect the data of the three-axis acceleration and angular velocity of movements, computed the attitude angle of people by magnitude of angular velocity, made acceleration of data into the coordinate transformation by such attitude information, and then resolved the carriers velocity on the movement direction and the information of distance that relative to the positioning coordinates, completed the carrier position function finally. Analyzed the method of the optimum estimate on attitude in position calculation, using UFK filtering algorithm for the problems of positioning accuracy by the sensor random error and increase the positioning precision. Accomplished the hardware and software design of the positioning system, using radio frequency signs to correct the long accumulation of errors, and obtained better results in the experiments also.