Underground one-dimensional accurate positioning method based on UWB technology C-TWR

Abstract

The invention discloses an underground one-dimensional accurate positioning method based on a UWB technology C-TWR. The method comprises the following steps: arranging a UWB positioning base station underground, adopting a C-TWR process to obtain two measured values (the distance between an identification card and a UWB positioner A and the distance between the identification card and a UWB positioner B), preliminarily correcting the error of two-way data, judging the one-dimensional linear direction of the identification card, and adopting one-dimensional Kalman filtering to obtain a final distance value. By means of the method, higher underground positioning precision can be achieved, good positioning real-time performance is achieved, non-blind-area positioning can be achieved, and the technical requirements of underground coal mine application are met.

Description

technical field [0001] The invention belongs to the technical field of UWB wireless positioning underground in coal mines, and relates to a method for realizing precise one-dimensional positioning underground on the basis of the C-TWR method. Background technique [0002] Due to the particularity of the industry and the complexity of the application environment, underground positioning technology in mines also determines that it has different industry application requirements and different problem-solving methods from indoor positioning technology. Therefore, under high positioning accuracy, the equipment required for the system The quantity should be as small as possible, the maintenance should be as simple and reliable as possible, and the cost should be as low as possible. [0003] The existing application technologies of DS-TWR include: (1) An ADS-TWR-based method for judging the positioning area of ​​multiple base stations for underground UWB (patent CN 107948920 A), th...

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Problems solved by technology

[0003] The existing application technologies of DS-TWR include: (1) An ADS-TWR-based method for judging the positioning area of ​​multiple base stations for underground UWB (patent CN 107948920 A), the base stations are arranged at equal intervals, and the distance between any two base stations is less than the positioning coverage Radius, if the location of the identification card is obtained, the identification card and the two base stations need to complete the DS-TWR process on both sides, which takes up too much space and time slot resources, and the project cost is high

(2) A method and system for downhole accurate positioning and azimuth determination based on UWB technology DS-TWR (patent CN111970760A), which adopts a single base station (dual antenna) ranging structure, uses the DS-TWR method to identify the card and one of the antennas to measure The direction is judged using a rough time-of-arrival method (limited accuracy). Due to the error, the distance between the two antennas must be 10 meters. Because the antenna is too long, it will introduce noise, which will affect the accuracy of the UWB system.

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