Underground coal mine multi-dimensional fusion positioning method
Through the multi -dimensional positioning fusion system, combined with the data fusion of the UWB and IMU modules, the problem of large positioning errors in the underground mine car is solved, and higher accuracy positioning is achieved and the needs of new vehicle transportation services.
Patent Information
- Application Number
- CN202411276411.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-12
- Publication Date
- 2025-01-28
AI Technical Summary
The existing underground mine vehicle positioning system has problems such as large positioning errors and the inability to accurately identify the vehicle's position and speed in real time, making it difficult to adapt to the needs of new vehicle transportation services.
The multi -dimensional positioning fusion system, including the first position module, the second positioning module, the status detection module, the data fusion module, the data analysis module, the communication module, and the display module. And calculate the bias, select the position with a small deviation as actual positioning.
Effectively improve the accuracy of the positioning of the mines under the well, and can accurately identify the location and speed of the vehicle in real time, and meet the needs of the new vehicle transportation business.
Smart Images
Figure CN119375822A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of underground mine vehicle positioning systems, and in particular to a multi-dimensional fusion positioning method for underground coal mines. Background Art
[0002] Accurate positioning of underground mine vehicles has been a problem that mines have not yet found an effective solution for, so they are unable to adapt to the needs of new vehicle transportation services, resulting in an inability to effectively improve vehicle operating load efficiency.
[0003] At present, most mines use positioning based on UWB technology. Due to the working principle of UWB technology, slow refresh frequency, and large positioning error, it is impossible to accurately identify the vehicle position, vehicle speed, vehicle distance, vehicle availability, etc. in real time. Some mines use laser radar, but because the underground environment changes over time, laser radar has blind spots in signal detection and signal coverage, resulting in high false alarm rate and large distance error in positioning target objects, making it difficult to capture effective and accurate signal sources. With the popularization of artificial intelligence technology, in accordance with national policy requirements to achieve the intelligent goal of "smart mines", the demand for real-time vehicle positioning is a technical obstacle that urgently needs to be solved in the current operation of mine vehicles. Summary of the invention
[0004] In order to overcome the above-mentioned shortcomings, the purpose of this application is to provide a multi-dimensional fusion positioning method for underground coal mines to improve the accuracy of the underground mine car positioning system.
[0005] In order to achieve the above objectives, this application adopts the following technical solutions:
[0006] The present application provides a multi-dimensional fusion positioning method for underground coal mines, including a positioning method for positioning underground mine vehicles based on a multi-dimensional positioning fusion system, wherein the multi-dimensional positioning fusion system includes: a first positioning module, a second positioning module, a state detection module, a data fusion module, a data analysis module, a communication module, and a display module, and the method includes the following steps:
[0007] S1, based on the first positioning module, obtaining the first position information of the underground mining vehicle and outputting it to the data fusion module and the data analysis module,
[0008] Based on the second positioning module, the second position information of the underground mining vehicle is obtained and output to the data fusion module and the data analysis module.
[0009] Based on the state detection module, the position state information of the underground mining vehicle is obtained and output to the data fusion module;
[0010] S2, based on the data fusion module, the first position information inputted is combined with the position state information to calculate the first fused position information of the underground mine vehicle and output it to the data analysis module,
[0011] Based on the data fusion module, the second position information inputted is combined with the position state information to calculate the second fused position information of the underground mine vehicle and output it to the data analysis module;
[0012] S3, analyzing and calculating the first fused position information and the first position information based on the data analysis module to obtain a first deviation amount,
[0013] Based on the data analysis module, the second fused position information and the second position information are analyzed and calculated to obtain a second deviation amount.
[0014] Comparing the first deviation with the second deviation based on the data analysis module,
[0015] If the first deviation is less than the second deviation, the data analysis module outputs the first fused position information to the communication module, and transmits the first fused position information to the display module based on the communication module.
[0016] If the first deviation is greater than the second deviation, the data analysis module outputs the second fused position information to the communication module, and transmits the second fused position information to the display module based on the communication module.
[0017] Furthermore, the first positioning module includes a first UWB module, the second positioning module includes a second UWB module, the first UWB module and the second UWB module respectively include a receiving antenna, a main base station and several slave base stations, the receiving antennas of the first UWB module and the second UWB module are installed on an underground mine car, and the main base station and the slave base station of the first UWB module and the second UWB module are installed in the mine.
[0018] Furthermore, a main base station is installed at the starting point of the mine car in the mine, and a slave base station is installed in the plane area where the mine car is to move in the mine. The interval between two adjacent slave base stations is equal, and the slave base stations of the first UWB module and the second UWB module are cross-installed.
[0019] Furthermore, the master base station is used as the coordinate origin and forms a plane rectangular coordinate system with the slave base station, and the receiving antenna on the mining vehicle transmits signals to the base station to achieve ranging.
[0020] The first position information P1 (x1, y1) of the mining vehicle is calculated based on the first UWB module,
[0021] The second position information P1 (x2, y2) of the mining vehicle is calculated based on the second UWB module.
[0022] Furthermore, the state detection module includes an IMU module, and the IMU module includes an accelerometer and a gyroscope. The accelerometer and the gyroscope are installed on the mine car, and the angular velocity and acceleration information of the mine car are obtained based on the accelerometer and the gyroscope.
[0023] Furthermore, based on the data fusion module, the acceleration information of the mine car is fused with the first UWB module base station ranging information to optimize the x-direction data, and at the same time, based on the data fusion module, the angular velocity and offset angle information of the mine car in the x and y axis directions are fused with the first UWB module base station ranging information to optimize the y-direction data, thereby obtaining the first fused position information P3 (x3, y3).
[0024] Based on the data fusion module, the acceleration information of the mine car is fused with the ranging information of the second UWB module base station to optimize the x-direction data. At the same time, based on the data fusion module, the angular velocity and offset angle information of the mine car in the x and y axis directions are fused with the ranging information of the second UWB module base station to optimize the y-direction data to obtain the first fused position information P4 (x4, y4).
[0025] Furthermore, based on the data analysis module, the first fusion position P3 (x3, y3) and the first position information P1 (x1, y1) are calculated to obtain a first deviation, and the calculation formula is as follows:
[0026]
[0027] Wherein, f1 is the first deviation, x1 is the position of the mine car in the x-axis direction based on the rectangular coordinate system in the first UWB module, y1 is the position of the mine car in the y-axis direction based on the rectangular coordinate system in the first UWB module, x3 is the position of the mine car in the x-axis direction based on the fusion IMU module in the rectangular coordinate system in the first UWB module, and y3 is the position of the mine car in the y-axis direction based on the fusion IMU module in the rectangular coordinate system in the first UWB module;
[0028] Based on the data analysis module, the second fusion position P4 (x4, y4) and the first position information P2 (x2, y2) are calculated to obtain a second deviation, and the calculation formula is as follows:
[0029]
[0030] In the formula, f2 is the first deviation, x2 is the position of the mine car in the x-axis direction based on the rectangular coordinate system in the second UWB module, y2 is the position of the mine car in the y-axis direction based on the rectangular coordinate system in the second UWB module, x4 is the position of the mine car in the x-axis direction obtained by the fusion IMU module in the rectangular coordinate system in the second UWB module, and y4 is the position of the mine car in the y-axis direction obtained by the fusion IMU module in the rectangular coordinate system in the second UWB module.
[0031] Furthermore, based on the data analysis module, the first deviation amount and the second deviation amount are compared to calculate the calibration fusion position P(x, y) of the underground mine car, and the calculation method is as follows:
[0032]
[0033] Wherein, x is the position of the underground mine car calibration fusion position in the x-axis direction, and y is the position of the underground mine car calibration fusion position in the y-axis direction.
[0034] Furthermore, the data analysis module includes a vehicle-mounted computer, and the vehicle-mounted computer is installed on an underground mining vehicle.
[0035] Furthermore, the communication module includes a 5G communication device or a Wi F i communication device, the communication module is installed on an underground mining car, and the communication module establishes a communication connection with the display module.
[0036] Beneficial Effects
[0037] The present application designs a multi-dimensional fusion positioning method for underground coal mines. The method adopts two sets of UWB positioning modules and I MU modules for use. First, one set of UWB positioning modules is used in conjunction with the I MU module to obtain the fusion positioning of the underground mine car, and the fusion positioning is compared with the mine car positioning obtained by using the UWB positioning module alone to obtain the deviation. Then, another set of UWB positioning modules is used in conjunction with the I MU module to obtain another fusion positioning of the underground mine car, and the fusion positioning is compared with another mine car positioning obtained by using the UWB positioning module alone to obtain another deviation. Finally, the two deviations are compared, and the fusion positioning with the smaller corresponding deviation is used as the actual positioning of the underground mine car. This method can effectively improve the positioning accuracy of the underground mine car. BRIEF DESCRIPTION OF THE DRAWINGS
[0038] The accompanying drawings are used to provide an understanding of the technical solution of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the technical solution of the present disclosure and do not constitute a limitation on the technical solution of the present disclosure. The shapes and sizes of the components in the accompanying drawings do not reflect the actual proportions and are only intended to illustrate the content of the present application.
[0039] Figure 1 This is a schematic diagram of the structure of the multi-dimensional positioning fusion system of this application.
[0040] Figure 2 This application is a flow chart of a method for positioning an underground mine car based on a multi-dimensional positioning fusion system.
[0041] Figure 3 This is a schematic diagram of the structure of a multi-dimensional positioning fusion system in one embodiment of the present application.
[0042] Figure 4 This is a flow chart of an underground mine vehicle positioning method in one embodiment of the present application.
[0043] Figure 5 This is a schematic diagram of the positioning principle of a multi-dimensional positioning fusion system in a UWB1 rectangular coordinate system in one embodiment of the present application.
[0044] Figure 6 This is a schematic diagram of the positioning principle of a multi-dimensional positioning fusion system in a UWB2 rectangular coordinate system in one embodiment of the present application. DETAILED DESCRIPTION
[0045] The above scheme is further described below in conjunction with specific examples. It should be understood that these examples are used to illustrate the present application and are not limited to the scope of the present application. The implementation conditions adopted in the examples can be further adjusted as the conditions of the specific manufacturer, and the unspecified implementation conditions are usually the conditions in conventional experiments.
[0046] Unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connecting" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. In this article, "electrical connection" includes the situation where the constituent elements are connected together through an element with some electrical function. "Elements with some electrical function" are not particularly limited as long as they can transfer electrical signals between the connected constituent elements. "Elements with some electrical function" can be, for example, electrodes or wiring, or switching elements such as transistors, or other functional elements such as resistors, inductors or capacitors. "Up", "down", "left", "right", etc. are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.
[0047] In this application, the directions or positional relationships indicated by the terms "upper", "lower", "inner", "middle", etc. are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction.
[0048] Overview
[0049] As described in the background art, the traditional positioning method based on UWB technology has great defects when used in underground mine vehicles, resulting in the problem of inaccurate positioning of underground mine vehicles.
[0050] Therefore, the inventors have designed a multi-dimensional fusion positioning method for underground mine vehicles in coal mines. The method adopts a multi-dimensional positioning fusion system.
[0051] like Figure 1 As shown, the multi-dimensional positioning fusion system includes a first positioning module, a second positioning module, a state detection module, a data fusion module, a data analysis module, a communication module and a display module, wherein:
[0052] The first positioning module is in communication connection with the data fusion module, and the first positioning module is in communication connection with the data analysis module. The first positioning module is used to locate the underground mining vehicle and send the acquired positioning information to the data fusion module and the data analysis module;
[0053] The second positioning module is in communication connection with the data fusion module, and the second positioning module is in communication connection with the data analysis module. The second positioning module is used to locate the underground mining vehicle and send the acquired positioning information to the data fusion module and the data analysis module;
[0054] The state detection module is connected to the data fusion module for communication, and the state detection module is used to obtain the displacement information of the underground mining car;
[0055] The data fusion module is communicatively connected with the data analysis module, and the data fusion module is used to fuse the positioning information of the first positioning module and the second positioning module with the displacement information of the state detection module to obtain fused positioning information, and send the fused positioning information to the data analysis module;
[0056] The data analysis module establishes a communication connection with the display module through the communication module. The data analysis module is used to calculate the deviation between the fused positioning information and the positioning information obtained by the single positioning module, compare the two deviations, and send the actual positioning information of the underground mine car obtained by analysis and calculation to the display module through the communication module.
[0057] like Figure 2As shown, for the above multi-dimensional positioning fusion system, the following method is used to locate the underground mine car:
[0058] S1, based on the first positioning module, the first position information of the underground mine car is obtained and output to the data fusion module and the data analysis module, based on the second positioning module, the second position information of the underground mine car is obtained and output to the data fusion module and the data analysis module, and based on the state detection module, the position state information of the underground mine car is obtained and output to the data fusion module;
[0059] S2, based on the data fusion module, the first position information input is combined with the position state information to calculate the first fused position information of the underground mine car and output it to the data analysis module; based on the data fusion module, the second position information input is combined with the position state information to calculate the second fused position information of the underground mine car and output it to the data analysis module;
[0060] S3. Based on the data analysis module, the first input fused position information and the first position information are analyzed and calculated to obtain a first deviation; based on the data analysis module, the second input fused position information and the second position information are analyzed and calculated to obtain a second deviation; based on the data analysis module, the first deviation and the second deviation are compared; if the first deviation is smaller than the second deviation, the data analysis module outputs the first fused position information to the communication module; based on the communication module, the first fused position information is transmitted to the display module; if the first deviation is larger than the second deviation, the data analysis module outputs the second fused position information to the communication module; based on the communication module, the second fused position information is transmitted to the display module.
[0061] Next, combine Figure 3-6 The solution proposed in this application is described exemplarily.
[0062] Exemplary Positioning Systems
[0063] An embodiment of the present application discloses a multi-dimensional fusion positioning system for underground mining vehicles, such as Figure 3 As shown, the system includes:
[0064] The first UWB module ( Figure 3UWB1) is a wireless carrier communication module used for underground mine car positioning. The UWB1 module includes a receiving antenna, which is installed on the underground mine car (not shown in the figure). The UWB1 module also includes a main base station and several slave base stations, wherein the main base station is installed at the starting position of the mine car in the mine. A rectangular plane coordinate system is established in the mine car moving area (an entire plane) in the mine based on the UWB1 module. The main base station is the coordinate origin, and the slave base stations are evenly installed in the mine car moving area, and the interval between two adjacent slave base stations is equal.
[0065] The second UWB module ( Figure 3 The structure and use principle of the UWB2 module are the same as those of the UWB1 module, including a receiving antenna, which is installed on an underground mine car (not shown in the figure), and also includes a main base station and several slave base stations, wherein the main base station is installed at the starting position of the mine car in the mine, and a rectangular plane coordinate system is established in the mine car moving area (an entire plane) in the mine based on the UWB2 module, with the main base station as the coordinate origin, and the slave base stations are evenly installed in the mine car moving area, and the interval distance between two adjacent slave base stations is equal.
[0066] It should be noted that the rectangular plane coordinate systems established by the UWB1 module and the UWB2 module in the mine car moving area are different, so the slave base stations of the UWB1 module and the UWB2 module are cross-installed.
[0067] IMU module ( Figure 3 I MU (Inertial Measurement Unit), a sensor used to detect and measure acceleration and rotational motion, an I MU module includes an accelerometer and a gyroscope, and the accelerometer and the gyroscope are installed on the mine car ( Figure 3 not shown).
[0068] It should be noted that the IMU module obtains motion parameters such as acceleration and angular velocity in real time, and obtains the displacement and posture information of the person through integral calculation. The principle of the IMU module is a public technology, so its principle will not be elaborated.
[0069] The data fusion module is connected to the UWB1 module, the UWB2 module and the IMU module respectively, and the acceleration information of the mine car is fused with the ranging information of the UWB module base station to optimize the x-direction data. At the same time, the angular velocity and offset angle information of the mine car in the x and y axis directions are fused with the ranging information of the UWB module base station to optimize the y-direction data, thereby obtaining the fused position information of the mine car.
[0070] It should be noted that the data fusion module includes but is not limited to filters, and the state equation of the Kalman filter is used to settle the above information. The principle of UWB module fusing IMU module to achieve positioning belongs to public technology, so its principle will not be elaborated.
[0071] On-board computer, which is installed on the underground mine car ( Figure 3 (not shown in the figure), the on-board computer is communicated with the data fusion module, the UWB1 module, and the UWB2 module. The on-board computer obtains the positioning information of the UWB1 module, the positioning information of the UWB2 module, the fused positioning information of the UWB1 module and the IMU module, and the fused positioning information of the UWB2 module and the IMU module. The positioning information of the UWB1 module and the fused positioning information of the UWB1 module and the IMU module are calculated to obtain a deviation value, and the positioning information of the UWB2 module and the fused positioning information of the UWB2 module and the I MU module are calculated to obtain another deviation value. The two deviation values are compared, and the fused positioning with the smaller corresponding deviation is used as the actual positioning of the underground mining car.
[0072] 5G / Wi F i communication device, which is installed on the underground mining car ( Figure 3 (not shown), the communication device is connected to the data analysis module for communication and sends the actual positioning information to the display terminal.
[0073] The display terminal is used to display the actual positioning information of the underground mine car.
[0074] Exemplary Positioning Methods
[0075] An embodiment of the present application discloses a multi-dimensional fusion positioning method for an underground mine vehicle, such as Figure 4 As shown, the method includes:
[0076] S100, based on the UWB1 module, the position information P1 (x1, y1) of the underground mine car is obtained, and P1 is transmitted to the data fusion module and the data analysis module; based on the UWB2 module, the position information P2 (x2, y2) of the underground mine car is obtained, and P2 is transmitted to the data fusion module and the data analysis module; based on the IMU module, the displacement information of the underground mine car is obtained, and the displacement information is transmitted to the data fusion module;
[0077] S200, based on the data fusion module, P1 is fused with the displacement information of the underground mine car to obtain P3 (x3, y3), and P2 is fused with the displacement information of the underground mine car to obtain P4 (x4, y4), and P3 and P4 are transmitted to the data analysis module;
[0078] In S300, the data analysis module calculates the deviation f1 through P1 and P3, and at the same time calculates the deviation f2 through P2 and P4. Compare f1 and f2. When f1 < f2, the data analysis module outputs P3 as the calibrated fusion position P of the underground mine car. When f1 > f2, the data analysis module outputs P4 as the calibrated fusion position P of the underground mine car.
[0079] As Figure 5 shown, the UWB1 module establishes an xy rectangular coordinate system in the moving area (plane) of the underground mine car. The base station 1 is the main base station, that is, the origin of the rectangular coordinate system. Multiple slave base stations (2, 3.....) are evenly distributed in the rectangular coordinate system. The mine car starts from the base station 1 (i.e., the starting point) and moves to the point to be measured. The UWB1 module and the IMU module are used to locate the mine car at point A. The coordinates P3(x3, y3) of point A are calculated through the UWB1 module and the IMU module. At the same time, if there is a positioning error when only using the UWB1 module to locate the mine car, the located mine car is at point a, and the coordinates are P1(x1, y1). Finally, the data analysis module calculates the deviation f1 between P1(x1, y1) and P3(x3, y3). The specific calculation process is as follows:
[0080] According to the Pythagorean theorem of a triangle, we can get: (x1 - x3) 2 +(y1 - y3) 2 = f1 2
[0081] Thus, it can be deduced that:
[0082] In the formula, f1 is the first deviation, x1 is the position of the mine car in the x-axis direction on the rectangular coordinate system based on the first UWB module, y1 is the position of the mine car in the y-axis direction on the rectangular coordinate system based on the first UWB module, x3 is the position of the mine car in the x-axis direction on the rectangular coordinate system based on the first UWB module and integrating the IMU module, and y3 is the position of the mine car in the y-axis direction on the rectangular coordinate system based on the first UWB module and integrating the IMU module;
[0083] As Figure 6As shown in the figure, the UWB2 module establishes an xy rectangular coordinate system in the moving area (plane) of the underground mine car. The base station 1 is the main base station, that is, the origin of the rectangular coordinate system. Multiple slave base stations (2, 3.....) are evenly distributed in the rectangular coordinate system. The mine car starts from the base station 1 (i.e., the starting point) and travels to the point to be measured. Through the UWB2 module and the IMU module, the mine car is located at point B, and the coordinates P4(x4, y4) of point B are calculated through the UWB2 module and the IMU module. At the same time, if there is a positioning error when only using the UWB2 module to locate the mine car, the located mine car is at point b, with coordinates P2(x2, y2). The deviation f2 between P2(x2, y2) and P4(x4, y4) is calculated through the data analysis module. The specific calculation process is as follows:
[0084] According to the Pythagorean theorem of a triangle, we can get: (x2 - x4) 2 +(y2 - y4) 2 = f2 2
[0085] Thus, it can be deduced that:
[0086] In the formula, f2 is the first deviation, x2 is the position of the mine car in the x-axis direction on the rectangular coordinate system based on the second UWB module, y2 is the position of the mine car in the y-axis direction on the rectangular coordinate system based on the second UWB module, x4 is the position of the mine car in the x-axis direction on the rectangular coordinate system obtained by fusing the IMU module based on the second UWB module, and y4 is the position of the mine car in the y-axis direction on the rectangular coordinate system obtained by fusing the IMU module based on the second UWB module;
[0087] To sum up, the calculation process of the calibrated fusion position P(x, y) of the mine car is as follows:
[0088]
[0089] In the formula, x is the position of the calibrated fusion position of the underground mine car in the x-axis direction, and y is the position of the calibrated fusion position of the underground mine car in the y-axis direction.
[0090] Compare f1 and f2. When f1 < f2, the data analysis module outputs P3 as the calibrated fusion position P of the underground mine car. When f1 > f2, the data analysis module outputs P4 as the calibrated fusion position P of the underground mine car.
[0091] This embodiment uses two sets of UWB positioning modules (UWB1 and UWB2) in conjunction with the I MU module. First, the UWB1 positioning module is used in conjunction with the I MU module to obtain the fused positioning P3 of the underground mine car, and the fused positioning P3 is compared with the mine car positioning P1 obtained by the UWB1 positioning module to obtain the deviation f1. Then, the UWB2 positioning module is used in conjunction with the I MU module to obtain another fused positioning P4 of the underground mine car, and the fused positioning P4 is compared with another mine car positioning P2 obtained using the UWB2 positioning module to obtain another deviation f2. Finally, the two deviations are compared, and the fused positioning with the smaller corresponding deviation is used as the actual positioning P of the underground mine car. This method can effectively improve the positioning accuracy of the underground mine car.
[0092] The above embodiments are only for illustrating the technical concept and features of the present application, and their purpose is to enable people familiar with the technology to understand the content of the present application and implement it accordingly, and they cannot be used to limit the protection scope of the present application. Any equivalent transformation or modification made according to the spirit of the present application shall be included in the protection scope of the present application.
Claims
1. A multi-dimensional fusion positioning method for underground coal mines, wherein the positioning method locates underground mine vehicles based on a multi-dimensional positioning fusion system, and the multi-dimensional positioning fusion system comprises: The first positioning module, the second positioning module, the state detection module, the data fusion module, the data analysis module, the communication module and the display module are characterized in that the method comprises the following steps: S1, based on the first positioning module, obtaining the first position information of the underground mining vehicle and outputting it to the data fusion module and the data analysis module, Based on the second positioning module, the second position information of the underground mining vehicle is obtained and output to the data fusion module and the data analysis module. Based on the state detection module, the position state information of the underground mining vehicle is obtained and output to the data fusion module; S2, based on the data fusion module, the first position information inputted is combined with the position state information to calculate the first fused position information of the underground mine vehicle and output it to the data analysis module, Based on the data fusion module, the second position information inputted is combined with the position state information to calculate the second fused position information of the underground mine vehicle and output it to the data analysis module; S3, analyzing and calculating the first fused position information and the first position information based on the data analysis module to obtain a first deviation amount, Based on the data analysis module, the second fused position information and the second position information are analyzed and calculated to obtain a second deviation amount. Comparing the first deviation with the second deviation based on the data analysis module, If the first deviation is less than the second deviation, the data analysis module outputs the first fused position information to the communication module, and transmits the first fused position information to the display module based on the communication module. If the first deviation is greater than the second deviation, the data analysis module outputs the second fused position information to the communication module, and transmits the second fused position information to the display module based on the communication module.
2. The multi-dimensional fusion positioning method for underground coal mines according to claim 1, characterized in that: The first positioning module includes a first UWB module, the second positioning module includes a second UWB module, the first UWB module and the second UWB module respectively include a receiving antenna, a main base station and several slave base stations, the receiving antennas of the first UWB module and the second UWB module are installed on an underground mine car, and the main base station and the slave base station of the first UWB module and the second UWB module are installed in the mine.
3. The multi-dimensional fusion positioning method for underground coal mines according to claim 2, characterized in that: A main base station is installed at the starting point of the mine car in the mine, and a slave base station is installed in the plane area where the mine car is to move in the mine. The interval between two adjacent slave base stations is equal, and the slave base stations of the first UWB module and the second UWB module are cross-installed.
4. The multi-dimensional fusion positioning method for underground coal mines according to claim 3, characterized in that: The master base station is used as the coordinate origin and forms a plane rectangular coordinate system with the slave base station. Signals are transmitted between the receiving antenna on the mining vehicle and the base station to achieve distance measurement. The first position information P1 (x1, y1) of the mining vehicle is calculated based on the first UWB module, The second position information P1 (x2, y2) of the mining vehicle is calculated based on the second UWB module.
5. The multi-dimensional fusion positioning method for underground coal mines according to claim 1, characterized in that: The state detection module includes an IMU module, and the IMU module includes an accelerometer and a gyroscope. The accelerometer and the gyroscope are installed on the mine car, and the angular velocity and acceleration information of the mine car are obtained based on the accelerometer and the gyroscope.
6. The multi-dimensional fusion positioning method for underground coal mines according to any one of claims 1 to 5, characterized in that: Based on the data fusion module, the acceleration information of the mining car is fused with the first UWB module base station ranging information to optimize the x-direction data. At the same time, based on the data fusion module, the angular velocity and offset angle information of the mining car in the x and y axis directions are fused with the first UWB module base station ranging information to optimize the y-direction data, and the first fused position information P3 (x3, y3) is obtained. Based on the data fusion module, the acceleration information of the mine car is fused with the ranging information of the second UWB module base station to optimize the x-direction data. At the same time, based on the data fusion module, the angular velocity and offset angle information of the mine car in the x and y axis directions are fused with the ranging information of the second UWB module base station to optimize the y-direction data to obtain the first fused position information P4 (x4, y4).
7. The multi-dimensional fusion positioning method for underground coal mines according to claim 6, characterized in that: Based on the data analysis module, the first fusion position P3 (x3, y3) and the first position information P1 (x1, y1) are calculated to obtain a first deviation, and the calculation formula is as follows: Wherein, f1 is the first deviation, x1 is the position of the mine car in the x-axis direction based on the rectangular coordinate system in the first UWB module, y1 is the position of the mine car in the y-axis direction based on the rectangular coordinate system in the first UWB module, x3 is the position of the mine car in the x-axis direction based on the fusion IMU module in the rectangular coordinate system in the first UWB module, and y3 is the position of the mine car in the y-axis direction based on the fusion IMU module in the rectangular coordinate system in the first UWB module; Based on the data analysis module, the second fusion position P4 (x4, y4) and the first position information P2 (x2, y2) are calculated to obtain a second deviation, and the calculation formula is as follows: In the formula, f2 is the first deviation, x2 is the position of the mine car in the x-axis direction based on the rectangular coordinate system in the second UWB module, y2 is the position of the mine car in the y-axis direction based on the rectangular coordinate system in the second UWB module, x4 is the position of the mine car in the x-axis direction obtained by the fusion IMU module in the rectangular coordinate system in the second UWB module, and y4 is the position of the mine car in the y-axis direction obtained by the fusion IMU module in the rectangular coordinate system in the second UWB module.
8. The multi-dimensional fusion positioning method for underground coal mines according to claim 7, characterized in that: Based on the data analysis module, the first deviation and the second deviation are compared to calculate the calibration fusion position P (x, y) of the underground mine car, and the calculation method is as follows: Wherein, x is the position of the underground mine car calibration fusion position in the x-axis direction, and y is the position of the underground mine car calibration fusion position in the y-axis direction.
9. The multi-dimensional fusion positioning method for underground coal mines according to claim 1, characterized in that: The data analysis module includes a vehicle-mounted computer, which is installed on an underground mining vehicle.
10. The multi-dimensional fusion positioning method for underground coal mines according to claim 1, characterized in that: The communication module includes a 5G communication device or a WiFi communication device. The communication module is installed on an underground mining vehicle, and a communication connection is established between the communication module and the display module.