基于Baseline-RFMDR的主动式井下组合定位方法

Autonomous Underground Combination Positioning Method Based on Baseline-RFMDR

井下人员定位是井下安全生产的保障,也是智能矿山发展的关键技术。目前基于微机电系统(MEMS)组合定位技术是智能矿山自主定位的研究热点,但由于MEMS测量信号易受干扰,存在自主定位精度较低的问题。针对井下低成本MEMS自主定位精度低、稳定性差的问题,提出了一种基于基线—射频地磁航位推算(Baseline-RFMDR)组合的井下定位方法。该方法以地磁匹配定位与行人航迹推算(PDR)定位为基础方程,利用巷道“标签对”短基线作为约束条件的卡尔曼滤波解算的数学模型,能够有效控制地磁匹配和PDR定位误差。选取了国家矿山应急救援模拟巷道为试验场地,携带自主研发的低成本MEMS集成自主定位装置进行人员动态定位试验,测试Baseline-RFMDR定位方法的精度和可靠性。试验结果表明:研发的低成本Baseline-RFMDR自主定位装置可以有效、连续地采集地磁数据、行人姿态、行走数据,技术架构稳定;在行人连续行走条件下,PDR定位前期精度较高,但是随着行人行走时长增长,误差累积明显增大;地磁匹配不会随着行走时长增长发生累积,但是精度较低,大部分匹配误差在2 m左右。Baseline-RFMDR组合定位总体精度明显优于PDR定位和地磁匹配定位精度,在人员巷道前进方向坐标误差控制在1 m以内,为实现井下低成本、高精度自主定位提供了新思路。

Underground personnel positioning is a guarantee for safe production and a key technology for intelligent mine.MEMS(Micro-Electro-Mechanical System)-based combined positioning represents a research focus for autonomous positioning in intelligent mines.At present,microelectromechanical system(MEMS)-based combined positioning technology is a research area of significant interest with regard to autonomous positioning in intelligent mines.However,due to the susceptibility of MEMS measurement signals to interference,there is a notable challenge associated with achieving optimal autonomous positioning accuracy.To address the issues of low accuracy and poor stability of low-cost autonomous underground positioning,a combined Baseline-RFMDR-based underground positioning method is proposed.The method combines geomagnetically matched positioning with Pedestrian Dead Reckoning(PDR)positioning and constructs a mathematical model for Baseline-RFMDR Kalman filtering solution using a short baseline of"tag pairs"deployed in the roadway as constraints.The simulated tunnel of the national mine emergency rescue was selected as the test site for the deployment of the self-developed low-cost MEMS integrated autonomous positioning device,which was used to conduct personnel dynamic positioning tests and to assess the Baseline-RFMDR positioning accuracy and reliability.The test results indicated that the low-cost Baseline-RFMDR autonomous positioning device is capable of effectively and continuously collecting geomagnetic data,pedestrian attitude data,and walking data.Furthermore,the technical architecture is stable.In the context of continuous pedestrian movement,the accuracy of PDR positioning is high in the prior period.However,the error accumulation increases with the growth of pedestrian walking length.The geomagnetic matching will not be accumulated with the growth of walking length.Nevertheless,the accuracy is low,and most of the matching error is approximately 2 m.The Baseline-RFMDR method demonstrates superior positioning accuracy compared to PDR and geomagnetic matching positioning.The coordinate error is maintained within 1 m in the forward direction of the personnel tunnel.This approach offers a novel solution for low cost and high precison underground autonomous positioning.