摘 要：针对煤矿井下复杂环境中非视距误差对无线信号定位的干扰，文章设计了区域判定和校正策略减小标签和基站之间的无效通信，提高了定位效率；提出基于 UWB 的煤矿井下协同定位算法，移动的标签充当定位基站，减少定位盲区提高定位精度；提出改进的自适应卡尔曼滤波算法对协同定位结果进行优化，获取信息向量检验非视距环境误差，并对协方差矩阵进行修正。仿真验证结果表明：改进后的自适应卡尔曼滤波算法结合协同定位算法相比卡尔曼滤波算法结合协同定位算法定位误差更小，可以更好地应用于煤矿井下人员定位中。
关键词：超宽带；煤矿井下定位；区域判定和校正策略；协同定位算法；自适应卡尔曼滤波
DOI:10.19850/j.cnki.2096-4706.2021.24.020
中图分类号：TP18 文献标识码：A 文章编号：2096-4706（2021）24-0074-07
Research on Positioning Algorithm Based on Cooperative Positioning and Adaptive Kalman Filter —Take the Positioning Algorithm for Underground Coal Mine Personnel as an Example
PANG Mingrui, GAO Zhenhang, LIU Lu, ZANG Yuecheng
(School of Mechanical Electronic & Information Engineering, China University of Mining and Technology-Beijing, Beijing 100083, China)
Abstract: Aiming at the interference of non-line-of-sight errors on wireless signal positioning in complex environment of underground coal mines, this paper designs a regional determination and correction strategy to reduce the invalid communication between tags and base stations, and improves positioning efficiency; an underground coal mine cooperative positioning algorithm based on UWB is proposed, the mobile tag acts as a positioning base station, reducing the positioning blind area and improving the positioning accuracy; an improved adaptive Kalman filter algorithm is proposed to optimize the collaborative positioning result, obtain the information vector to check the non-line-of-sight environment error, and correct the covariance matrix. The simulation results show that the improved adaptive Kalman filter algorithm combined with cooperative positioning algorithm has less positioning error than Kalman filter algorithm combined with cooperative positioning algorithm, and can be better applied to personnel positioning in underground coal mine.
Keywords: ultra-wideband; underground coal mine positioning; area determination and correction strategy; cooperative positioning algorithm; adaptive Kalman filter
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作者简介：庞明瑞（1997—）女，汉族，山西大同人，硕士研究生在读， 研究方向：嵌入式技术；高振航（1998—）男，汉族，河南开封人，硕 士研究生在读，研究方向：嵌入式技术；刘璐（1997—）女，汉族，山东滨州人，硕士研究生在读，研究方向：嵌入式技术；臧悦程（1998—） 男，汉族，吉林白山人，硕士研究生在读，研究方向：嵌入式技术。