一种新型井下人员组合定位系统设计

Design of a new type of combined underground personnel positioning system

针对目前井下人员定位精度低、无法实时全局定位、搜救被困人员困难等问题,设计了一种基于微惯性测量组合(MIMU)导航技术和WiFi技术相结合的井下人员组合定位系统;给出了发生矿难后的基于该组合定位系统的搜救方案。该系统利用WiFi提供的可靠位置信息来给定MIMU最初的位置信息并校正MIMU的位置,弥补了MIMU误差随时间累积的缺点;利用MIMU的实时全局定位来弥补WiFi的局部定位。选用卡尔曼滤波将两者进行信息融合,进行最优组合处理。测试结果表明,该系统实现了对矿井井下人员实时三维全局定位及快速搜救,具有一定的工程实际意义。

In view of problems that current underground personnel positioning has low accuracy, cannot realize real-time global positioning and it is difficult to search and rescue trapped people, a combined underground personnel positioning system based on combination of micro inertial measurement unit （MIMU） navigation technology and WiFi technology was designed, search and rescue scheme based on the combined positioning system after mine accident was given. The system uses reliable position information provided by WiFi to set initial position information of MIMU and adjust position of MIMU, so as to make up shortage of error accumulation with time of MIMU, uses real-time global positioning of MIMU to compensate local positioning of WiFi. Then it employs Kalman filter to fuse information from the MIMU and WiFi for optimal combination processing. The test result shows that the system realizes real-time three-dimensional global positioning for underground personnel and rapid search and rescue, has a certain engineering practical significance.