Mine TOA target positioning method for suppressing NLOS time delay error

Abstract

The invention discloses a mine TOA target positioning method for suppressing an NLOS time delay error. The method includes steps: firstly, positioning base stations and a positioning card are set; secondly, the positioning card sends distance detection signals to a positioning base station A and a positioning base station B; thirdly, a synchronous time delay and a timing error are eliminated by employing an SDS-TWR method; fourthly, a roadway random NLOS time delay error is suppressed by employing a Kalman filtering algorithm based on an innovation threshold; fifthly, a distance measured valueafter Kalman filtering based on the innovation threshold is calculated; sixthly, an error brought by a roadway fixed NLOS time delay error is eliminated according to a parameter fitting method; and seventhly, the target position of a to-be-positioned target is further estimated by employing a geometric algorithm. According to the method, the steps are simple, the realization is convenient, the roadway NLOS time delay error can be effectively suppressed, the mine TOA positioning precision can be effectively improved, the practicality is high, the usage effect is good, and the promotion and theapplication are facilitated.

Description

technical field [0001] The invention belongs to the technical field of mine TOA positioning, and in particular relates to a mine TOA target positioning method for suppressing NLOS time delay errors. Background technique [0002] More than 90% of my country's coal mines are underground coal mines, and with the continuous expansion of coal mine mining areas and the continuous deepening of operation lanes, it is increasingly difficult to monitor and manage underground operators and equipment, and the existing coal mine underground personnel positioning system cannot meet emergency response requirements Rescue, underground operator management, coal mine network construction and other positioning accuracy requirements. Therefore, the construction of an accurate coal mine underground personnel positioning system is an urgent need for normal production, scheduling, disaster rescue and other work in coal mines. [0003] At present, my country's coal mine underground personnel positi...

AI Technical Summary

Problems solved by technology

Regional positioning technology obtains the location information of underground personnel by monitoring the positioning card in a certain area through the monitoring station, but it cannot provide the specific location of the staff member in the area to the monitoring room, and the positioning accuracy is very limited; RSS based on the receiving field strength The method is to use the channel fading model of electromagnetic wave propagation, deduce the signal transmission distance by detecting the field strength loss of the receiving and receiving signals, and calculate the corresponding underground personnel's location. Fixed and unpredictable loss factors, the median value of the roadway loss is difficult to accurately describe the loss model of the roadway wireless channel, which will cause a large positioning error and the positioning accuracy is very limited

[0004] At present, another technology that can be used as a precise positioning method for underground personnel in coal mines is the TOA method based on signal time of arrival. However, there are a large number of fixed facilities such as infrastructure facilities, production equipment, and safety equipment underground in coal mines. Unfixed factors such as travel and personnel flow interfere with the transmission path of wireless signals, and at the same time, GPS time synchronization cannot be used, resulting in synchronization delays, timing errors, and other impacts on the accuracy of TOA positioning that cannot be ignored

In order to solve these problems, people have done a lot of research. For example, the Chinese patent application number 201410605133.1 discloses a TOA underground personnel positioning system and method that suppresses the NLOS time delay error of the roadway. The accuracy has been improved, but the optimized TOA positioning accuracy still cannot meet the needs of the current mine underground target positioning

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