基于井下人员移动轨迹的地图匹配算法研究

Research on map matching algorithm based on the movement trajectory of underground people

针对目前井下人员定位工作中存在的双天线多重定位、人员车辆互相遮挡带来的非视距误差等干扰问题,提出了一种基于接受信号强度和历史移动轨迹拟合曲线预测插值的地图匹配算法。根据接收功率强度公式,计算得出标签对应2个天线的RSSI值,判断标签和天线的相对方向;根据标签信号的飞行时间,得出标签的测量值。同时,根据标签的历史轨迹点,使用最小二乘法拟合出一条近似移动轨迹曲线,从而得到下一时刻的预测坐标。再采用适当大小的权值对测量值和预测值进行坐标融合,从而得出修正后的坐标值。通过实验与直接测距方法比较,该算法求出的标签定位更加精准,整体定位性能也更加稳定。

Aiming at the interference problems of dual-antenna multiple positioning and non-line-of-sight error caused by mutual occlusion of personnel and vehicles in the current underground personnel positioning work,a map matching algorithm was based on received signal strength and historical movement trajectory fitting curve prediction interpolation.According to the received power strength formula,the RSSI value of the tag corresponding to the two antennas was calculated,the relative direction of the tag and the antenna was judged,and the measured value of the tag was obtained according to the flight time of the tag signal.At the same time,according to the historical trajectory points of the tag,a least square method was used to fit an approximate movement trajectory curve,thereby obtaining the predicted coordinates of the next moment.Then used the appropriate weight value to coordinate the measured value and the predicted value to obtain the corrected coordinate value.Through experiments and comparisons with direct ranging methods,the label positioning obtained by this algorithm was more accurate and the overall positioning performance was more stable.