Coal mine underground positioning method based on virtual training set and Markov chain

Abstract

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.

Description

[0001] technical field [0002] The invention relates to a positioning algorithm in the radio field; in particular, it relates to a coal mine underground positioning method based on a virtual training set and a Markov chain. Background technique [0003] The coal industry is an important basic industry related to the lifeline of the national economy and an important primary energy source that supports the growth of my country's GDP. The underground geological conditions of the coal mine are harsh, the length of the roadway can reach tens of kilometers, the configuration of coal mining electromechanical equipment is large, the mobility of personnel is large, the space of the roadway and the excavation working face is narrow, the surface of the four walls of the roadway is rough, and a large number of high-power electromechanical equipment is placed in the roadway. Ventilation equipment and safety support equipment, there is a large amount of explosive gas in the environment, ...

AI Technical Summary

Problems solved by technology

[0010] Although the positioning algorithm based on RSSI has many advantages, the underground channel of the coal mine is complex, and the signal multipath fading and non-line-of-sight transmission cannot be avoided. RSSI is easily affected by these factors, resulting in inaccurate ranging and unavoidable errors.

Images