Underground tunnel-oriented ridge regression two-dimensional positioning method and system

Abstract

The invention relates to the technical field of tunnel positioning, and discloses an underground tunnel-oriented ridge regression two-dimensional positioning method and system. The method comprises the following steps: firstly, receiving signal arrival time from different positioning base stations through a positioning label to obtain a TDOA value; further determining an observation vector and a design matrix of the least square problem according to the position of the base station; calculating a condition number after the transpose of the design matrix is multiplied by the design matrix to estimate the noise sensitivity, and setting a proper ridge regression coefficient according to the condition number; and finally, determining a position vector, and determining coordinates of the positioning label according to the position vector. Through the above steps, the method overcomes the common noise sensitivity of TDOA positioning in an underground tunnel environment, and greatly improves the positioning precision and stability.

Description

technical field [0001] The present application relates to the technical field of tunnel positioning, in particular to a two-dimensional ridge regression positioning method and system for underground tunnels. Background technique [0002] With the advancement of urbanization, the living and production environment in the metropolitan area has gradually shifted from above ground to underground. Environments such as underground business circles and underground power grid tunnels cannot use satellites for positioning because their satellite signals are blocked. The location information of personnel is of great significance for commercial applications and personnel safety. [0003] At present, in underground tunnels, the least squares positioning method is usually used for positioning, specifically methods based on weighted least squares such as least squares and Chan algorithm. However, compared with the widely used indoor positioning technology, underground tunnels focus on the...

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Problems solved by technology

[0004] The present application discloses a two-dimensional ridge regression positioning method and system for underground tunnels, which is used to solve the problem in the prior art that compared with the widely used indoor positioning technology, underground tunnels focus on the environment of pipe corridors with large aspect ratios. This type of environment is constrained by geographical factors. When using the traditional least squares positioning method, due to the inverse of the ill-conditioned matrix in the solution, it is very sensitive to noise, and a small ranging error will lead to a large positioning error. technical problem

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