矿用智能传感器自主定位研究

Research on autonomous positioning of mine intelligent sensor

针对智能传感器物联网特性要求,采用地磁辅助的惯导/北斗组合定位算法,研制了自主定位模块,介绍了模块构成及电路;硬件设计采用了低功耗和国产化设计,软件采用了零速修正算法、四元数法、地磁辅助修正算法,实现了智能传感器移动轨迹存储和反演。经试验验证,移动轨迹和实际环道吻合度较高,在378 m环道实测距离375.01 m,相差2.99 m,相对误差0.8%。

According to the characteristic requirements of Internet of things of intelligent sensor,an autonomous positioning module is developed by using geomagnetic assisted inertial navigation/BDS combined positioning algorithm.The chip selection is based on the principle of low power consumption and localization.The module structure and circuit schematic diagram are introduced.The national production and low-power design are adopted in the hardware design,at the same time,the zero speed correction algorithm,quaternion method and geomagnetic auxiliary correction algorithm are adopted in the software to realize the storage and inversion of the moving trajectory of the intelligent sensor.The test shows that the moving track is highly similar to the actual loop.The measured distance of 378 m loop is 375.01 m,the difference is 2.99 m,and the relative error is 0.8%.