矿井目标定位中移动信标辅助的距离估计新方法

A novel distance estimation method for target localization in coal mine assisted by mobile beacons

为了降低测距不准对矿井目标定位精度的影响,提出一种移动信标辅助的距离估计方法 MBDisEst。该方法由安装有惯导设备或/和激光定位装置的瓦检员或矿车充当移动信标,它们通过与矿山物联网中的其他设备交换信息校准自身坐标。MBDisEst以移动信标和目标节点之间的相对运动和几何约束为基础,利用加权最小二乘法计算目标节点与虚拟信标的距离,可将静止和运动目标的距离估计统一在同一框架。仿真结果表明:MBDisEst的测距精度比TOA的测距精度高,其测距误差随移动信标速度的增大而增大,随移动信标通信半径的增加而减小,基于MBDisEst的定位方法具有较高的定位精度。

To mitigate the affection of the inaccurate distance measurement on the accuracy of the localization system in coal mines, an improved distance estimation method assisted by mobile beacons called MBDisEst was proposed. Some gas inspectors and mining cars equipped with inertial navigation equipment or/and laser positioning devices were selected as mobile anchors, which communicated with other devices for Interact of mine things to calibrate their own coordinates. MBDisEst computed the distances between target nodes and virtual anchors using weighted least square method based on their relative motion and geometrical restriction, and combined static and mobile target scenarios into a unified framework. The simulations show that the distance measurement accuracy of MBDisEst is larger than TOA＇s, and the measurement error grows up with the speed of mobile anchors and goes down with the communication range of mobile anchors. And the localization methods based on distance measurement of MBDisEst has larger accuracy.