基于GRPM井下定位的地磁匹配研究与分析

Research and Analysis of Geomagnetic Matching Based on GRPM Underground Positioning

为了解决无电、无网络情况下井下人员逃生定位和救援导航的难题,架构了井下地磁与RFID射频结合的井下定位方法 GRPM(Geomagnetic and Radio Positioning Method)。分析了井下巷道地磁数据带状连续、区域易突变的特点,选取地磁平均值、标准差、峰态系数、粗糙度适配性指标,进行典型巷道区域的适配性评价。在适配区内开展均方差相关(MSD)、归一化积相关(NPROD),以及基于Hausdorff距离相关(HD)的定位匹配对比试验和基于等值域匹配的效果分析。试验结果表明:标准差、粗糙度指标适合巷道定位适配性评价,分析准确。基于1~2倍等值域的NPROD匹配模型适合井下人员动态行走定位,匹配速度较快,满足精确定位要求。

In order to solve the problem that miner is difficult to escape or be rescued without the electricity or network.GRPM(Geomagnetic and Radio Positioning Method),a underground location method was constructed by combine underground geomagnetism with RFID radio frequency.It analyzed the geomagnetic data in underground tunnel,which have the characteristics of banded continuous and regional abrupt change.The suitability evaluation of typical roadway was carried out with some index such as the geomagnetic mean value,standard deviation and kurtosis coefficient,roughness.Location matching contrast experiment and effect analysis based on equal range matching are carried out in the adaptation zone,which about mean variance correlation(MSD),normalized product correlation(NPROD),and Hausdorff distance correlation(HD).The results proved that the standard deviation,roughness index is suitable for the suitability evaluation of roadway location,the analysis is accurate.The NPROD matching model based on the range of 1 times to 2 times is suitable for the underground dynamicpositioning,satisfies the requirement of accurate positioning with faster matching.