基于误差修正距离约束的深井巷道目标定位算法

Study on target location algorithm of deep mine roadway with distance constraint based on error correction

针对基于距离约束的井下定位算法本身存在的近似误差,尤其在锚点附近定位误差较大的问题,通过改进算法,引入1个误差系数ω,并以此为依据,来选取误差较小的边作为定位信息来源,同时引入修正系数ε来进行修正分割点,使其更加接近于垂足,以此来减少定位的误差。仿真结果表明:改进算法的平均定位误差远小于原定位算法,约为1/4;改进算法的最大误差小于1.5 m、最小误差为0.2 m;改进算法不仅定位精度优于原定位算法,且计算复杂度较低,更加适用于深井环境定位。

Aiming at the problem of approximation error in underground target location algorithm based on distance con- straint, especially the large location error around the anchor point, an error coefficient to was introduced to improve the algo- rithm. On this basis, the edges with smaller error were selected as the information source of location. Meanwhile, a correc- tion coefficient e was introduced to correct the division point, which made it closer to the foot of perpendicular, so as to re- duce the location error. The simulation results showed that the average location error of the improved algorithm was much less than the original location algorithm, about 1/4 times. The maximum error of the improved algorithm was less than 1.5 m, and the minimum error was 0.2 m. The improved algorithm has a better location accuracy than the original location algo- rithm, with a lower computation complexity, so itg more suitable for the location in deep mine environment.