井下巷道TOA和TDOA联合估计的UWB定位算法

UWB Positioning Algorithm Based on Joint TOA and TDOA Estimation in Downhole Roadway

设计了一种基于TOA和TDOA联合估计的UWB定位算法。分析了UWB信号在巷道环境下的传播机制、TOA与TDOA定位模型,对于井下采用TOA三边定位法的测量误差使3个圆不能相交于1点的情况,提出将相交区域的质心作为估计坐标,结合TDOA的参数与Taylor算法,将TOA的估计坐标作为Taylor算法的初始值,对定位结果求精。仿真实验表明,定位算法具有精度高、计算量小等优点,具有良好的应用推广价值。

A UWB location algorithm based on the joint estimation of TOA(Time of Arrival)and TDOA(Time Different of Arrival)is designed.The UWB(Ultra Wide Band)signal propagation mechanism under the roadway environment,TOA and TDOA positioning model are analyzed,for downhole measurement error using TOA trilateral positioning method can not make three circles intersect at a point in case,put forward the centroid of the intersection area as the estimated coordinates,TDOA parameters and Taylor algorithm are combined,and estimated coordinates of TOA is used as the initial value of the Taylor algorithm in order to refinement of positioning results.The simulation results show that the positioning algorithm has the advantages of high accuracy and small calculation amount,which has good application and promotion value.