The invention discloses a
coal mine underground positioning method based on a
virtual training set and a
Markov chain. According to the
coal mine underground positioning method based on the
virtual training set and the
Markov chain, in an area, where a target needs to be positioned, under a
coal mine, a plurality of
beacon nodes are arranged and a plurality of sampling positions are selected reasonably, and an off-line
virtual training set is established and an underground positioning
algorithm is achieved according to the steps that an underground
wireless sensor positioning network is constructed, the virtual
training set is established in an off-line mode, on-line target positioning is conducted, and the
Markov chain positioning
algorithm based on the
Gaussian model is formed. According to the coal mine underground positioning method based on the virtual
training set and the Markov chain,
wireless communication is applied to suitable coal mine underground communication and monitoring systems which are badly in need of
wireless communication, research and implementation of the underground
wireless positioning algorithm are achieved, and the
theoretical research value and the market application value are high; the movement state of the target and the characteristics of node sampling are fully considered, serious hopping which can be caused by
estimation of the position of the moving target is restrained, positioning precision is improved, and the position root-mean-
square error is 3.217 m in a 80-meter position area.