基于UWB的矿井巷道精准三维定位系统设计

Design of precise 3D positioning system for mine roadway based on UWB

针对矿井巷道空间分布不规则,设备繁杂、布局随意,作业环境恶劣,非视距现象普遍等因素导致人员和设备定位精度低的问题,设计基于UWB的高精度三维定位系统。首先采用卡尔曼算法对TDOA测量值进行非视距滤波,然后利用Chan算法融合多基站数据计算目标位置。通过搭建实验平台对标签位置进行测量和计算,实验结果表明,该系统对恶劣环境下矿井巷道中固定和移动的目标都有较高的定位精度。

Due to the irregular spatial distribution of mine roadway,disorganized equipment,random layout,poor working environment,and common phenomenon of NLOS(Non Line of Sight),etc.,the positioning accuracy of personnel and equipment is low,in view of this problem,a novel precise three-dimensional positioning system based on Ultra Wide Band(UWB)is designed.Firstly,Kalman algorithm was used to perform NLOS filtering for TDOA measurements,then Chan algorithm was used to fuse multi-base station data to calculate the target position.An experimental platform was built to measure and calculate the label location.The experimental results show that the system has high positioning accuracy for both fixed and moving targets in mine roadway under harsh environment.