煤矿地下空间定位技术研究进展

Recent advances in research on underground space positioning technology for coal mining

我国以煤为主的能源结构决定了煤炭资源的高效开采事关国家能源安全,煤矿智能化是煤炭工业高质量发展的必由之路.地下空间定位技术是实现煤矿智能化的基础,准确的定位信息可用于保障矿工生命安全,优化采矿作业,提高设备利用率,降低运行成本.矿井中卫星导航信号不可用,作业空间封闭受限,电磁环境复杂,光照条件不良,这对于定位技术提出了新要求.围绕煤矿井下特殊场景的定位问题,首先系统介绍了基于距离交会、基于数据库匹配、基于航位推算以及多源信息融合的四类基本定位技术,随后对于这四类定位技术的具体实施方案进行了详细评述,分析并归纳了煤矿地下定位系统面临绝对定位方式误差增大、推算式定位校正困难、多源融合式定位方法性能下降、缺乏全面的标准指导等挑战.未来可以考虑采用多系统协同提高定位能力,引入类脑仿生导航探索新的定位方案,提升无缝定位、应急定位能力,加强定位信息的隐私保护.

Efficient coal mining is essential for ensuring China’s energy security,and the advancement toward intelligent coal mining represents a strategic move to foster high-quality development within the coal industry.The cornerstone of realizing intelligent coal mines lies in underground space positioning technology.Accurate positioning is crucial not only for safeguarding miner safety but also for optimizing mining operations,improving equipment utilization and minimizing operational costs.The unique challenges of underground mining,such as the absence of satellite navigation signals,restricted and confined operating environments,and harsh electromagnetic and lighting conditions,place new requirements on positioning techniques.This paper focuses on the localization issues specific to underground coal mines,offering a systematic overview of four fundamental localization techniques:range intersection,database matching,dead reckoning,and multisource information fusion.Range intersection determines location by utilizing distance measurements obtained through various methods.Database matching employs online measurements to match against characteristics stored in a database.Dead reckoning calculates the current location by integrating measurements over time.Lastly,multisource information fusion enhances positioning accuracy by combining data from multiple sources.The paper further reviews detailed implementation schemes of these four positioning technologies in coal mines,highlighting typical sensors or systems and summarizing current research developments.For range intersection methods,methods such as visible light,ultrasonic,wireless local area network,bluetooth,ultra-wideband,and infrared positioning are examined.Database matching positioning methods include geomagnetic,gravity,and radio fingerprint positioning systems.Dead reckoning techniques cover inertial navigation,pedestrian navigation,and odometers,while multisource information fusion focuses on integrated navigation and simultaneous localization and mapping.Moreover,the paper identifies key challenges confronting underground positioning systems in coal mines.These challenges encompass the increasing inaccuracies in absolute localization methods,difficulties in correcting dead reckoning localizations,performance declines in multisource fusion localization methods,and the absence of comprehensive standardization.Given the complex environment of coal mines,there is still much room for improving the accuracy and reliability of underground positioning.To address these challenges,this paper proposes several avenues for improvement.Enhancing the performance of the positioning systems might involve fostering collaboration across multiple systems,incorporating brain-inspired navigation to explore new localization solutions,and strengthening seamless and emergency localization capabilities.Furthermore,in today’s interconnected intelligent age,the privacy and security aspects of positioning systems warrant careful consideration.