采用分段加权最小二乘法的井下人员实时定位系统设计
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摘要
基于井下无线局域网系统,采用自制无线移动终端扫描AP节点获取MAC地址和信号强度信息RSSI,并同时采集温度、湿度、瓦斯浓度等环境信息数据,通过网络将信息数据传输到地面服务器。利用多边定位建立线性最小二乘模型,把井下巷道分为多个分段,采用分段估计加权值得到动态加权矩阵。通过分段加权最小二乘算法计算出井下人员实时定位数据,最终生成煤矿井下人员周围环境数据库和人员轨迹数据库。试验结果表明,该系统定位平均误差小于1. 88 m。利用修正加权矩阵和分段加权最小二乘算法,能保证井下电磁环境改变时系统定位稳定,且定位精度较高。
Based on the underground WLAN system in coal mine,a self-made wireless mobile terminal was used to scan AP nodes to obtain MAC address and signal strength information RSSI,and the data of environmental information such as temperature,humidity and gas concentration were collected at the same time,the data was transmitted through the network to the ground server. The linear least squares model was established by using multi-lateral location,and the underground tunnel was divided into several segments,the piecewise estimated weighted values were used to obtain the matrix of dynamic weighted values,the real-time positioning data of underground personnel was calculated by piecewise weighted least squares algorithm,and finally the environment database and personnel trajectory database of underground personnel were generated. Experiment results show that the average positioning error of the system is less than 1. 88 m. By using the modified weighted matrix and the piecewise weighted least squares algorithm,the positioning stability and high precision of the system can be guaranteed when the electromagnetic environment is changed.
Based on the underground WLAN system in coal mine,a self-made wireless mobile terminal was used to scan AP nodes to obtain MAC address and signal strength information RSSI,and the data of environmental information such as temperature,humidity and gas concentration were collected at the same time,the data was transmitted through the network to the ground server. The linear least squares model was established by using multi-lateral location,and the underground tunnel was divided into several segments,the piecewise estimated weighted values were used to obtain the matrix of dynamic weighted values,the real-time positioning data of underground personnel was calculated by piecewise weighted least squares algorithm,and finally the environment database and personnel trajectory database of underground personnel were generated. Experiment results show that the average positioning error of the system is less than 1. 88 m. By using the modified weighted matrix and the piecewise weighted least squares algorithm,the positioning stability and high precision of the system can be guaranteed when the electromagnetic environment is changed.
引文
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[4]闫雷兵,陆音,张业荣.基于改进最小二乘算法的TDOA_AOA定位方法[J].电波科学学报,2016,31(2):395-400.
[5]李朝海,汪子峰,李会勇,等.采用距离无偏估计的加权最小二乘定位算法[J].信号处理,2016,32(12):1463-1467.
[6] TILO STRUT著.数据拟合与不确定度—加权最小二乘及其推广的实用指南[M].王鼎,唐涛,吴志东,等,译.北京:国防工业出版社,2017:38-81.
[7]王尔申,杨福霞,贾超颖,等.基于加权最小二乘法的RAIM算法研究[J].电光与控制,2017,24(11):7-10.
[8]孙继平,李晨鑫.基于TOA技术的煤矿井下人员定位精度评价方法[J].煤炭科学技术,2014,42(3):66-68.
[9]汤朝明,颜昱,严政.煤矿井下Bounding-Box的二次定位算法研究[J].矿业安全与环保,2015,42(1):48-51.
[10]莫树培.煤矿井下配电系统电容电流的测量方法研究[J].煤炭技术,2014,33(9):209-211.
[11]孙继平,李晨鑫.基于Wi Fi和计时误差抑制的TOA煤矿井下目标定位方法[J].煤炭学报,2014,39(1):192-197.
[12]徐宝超,翟恩发,许时昂,等.分布式光纤技术在矿井温度测试中的实验[J].矿业安全与环保,2017,44(4):32-36.
[13]孙继平,蒋恩松.基于Wi Fi信号二次扩频的矿井TOA测距方法[J].工矿自动化,2017,43(10):53-58.
[14]莫树培.悬臂式掘进机截齿截割模型构建及受力分析[J].煤矿机械,2015,36(1):113-115.
[15]汪金花,郭云飞,吴兵,等.基于GRPM井下定位的地磁匹配研究与分析[J].矿业安全与环保,2018,45(2):6-10.