采用分段加权最小二乘法的井下人员实时定位系统设计

Design of Real-time Positioning System for Underground Personnel by Using Piecewise Weighted Least Squares

基于井下无线局域网系统,采用自制无线移动终端扫描AP节点获取MAC地址和信号强度信息RSSI,并同时采集温度、湿度、瓦斯浓度等环境信息数据,通过网络将信息数据传输到地面服务器。利用多边定位建立线性最小二乘模型,把井下巷道分为多个分段,采用分段估计加权值得到动态加权矩阵。通过分段加权最小二乘算法计算出井下人员实时定位数据,最终生成煤矿井下人员周围环境数据库和人员轨迹数据库。试验结果表明,该系统定位平均误差小于1.88 m。利用修正加权矩阵和分段加权最小二乘算法,能保证井下电磁环境改变时系统定位稳定,且定位精度较高。

Based on the underground WLAN system in coal mine, a self-made wireless mobile terminal was used to scan AP nodes to obtain MAC address and signal strength information RSSI, and the data of environmental information such as temperature, humidity and gas concentration were collected at the same time, the data was transmitted through the network to the ground server. The linear least squares model was established by using multi-lateral location, and the underground tunnel was divided into several segments, the piecewise estimated weighted values were used to obtain the matrix of dynamic weighted values, the real-time positioning data of underground personnel was calculated by piecewise weighted least squares algorithm, and finally the environment database and personnel trajectory database of underground personnel were generated. Experiment results show that the average positioning error of the system is less than 1.88 m. By using the modified weighted matrix and the piecewise weighted least squares algorithm, the positioning stability and high precision of the system can be guaranteed when the electromagnetic environment is changed.