[1]康俊瑄.基于微型惯性传感器的井下人员跟踪定位系统*[J].中国安全生产科学技术,2023,19(1):73-78.[doi:10.11731/j.issn.1673-193x.2023.01.011]
KANG Junxuan.Tracking and positioning system of underground personnel based on miniature inertial sensor[J].JOURNAL OF SAFETY SCIENCE AND TECHNOLOGY,2023,19(1):73-78.[doi:10.11731/j.issn.1673-193x.2023.01.011]
点击复制
基于微型惯性传感器的井下人员跟踪定位系统*
KANG Junxuan.Tracking and positioning system of underground personnel based on miniature inertial sensor[J].JOURNAL OF SAFETY SCIENCE AND TECHNOLOGY,2023,19(1):73-78.[doi:10.11731/j.issn.1673-193x.2023.01.011]
《中国安全生产科学技术》[ISSN:1673-193X/CN:11-5335/TB]
- 卷:
- 19
- 期数:
- 2023年1期
- 页码:
- 73-78
- 栏目:
- 职业安全卫生管理与技术
- 出版日期:
- 2023-01-31
文章信息/Info
- Title:
- Tracking and positioning system of underground personnel based on miniature inertial sensor
- 文章编号:
- 1673-193X(2023)-01-0073-06
- 分类号:
- X936
- 文献标志码:
- A
- 摘要:
- 为了解决当前煤矿井下使用的WIFI人员定位系统在煤矿井下复杂环境中受到干扰，造成使用精度误差等问题，研究并提出使用微型惯性传感器制作足部轨迹测量传感器，通过惯性轨迹测量算法计算并跟踪井下人员的移动轨迹。使用基于固定阈值的零速检测技术和基于Kalman滤波的零速校正技术估计并校正由于系统长期工作造成的偏移误差。通过实验证明采用微型惯性传感器能够在不依赖于外部传感器的情况下对人员轨迹实现测量跟踪，Kalman滤波的应用能够减少惯性轨迹测量系统造成的长期漂移误差，可避免井下复杂工作环境对定位造成的干扰。
- Abstract:
- In order to solve the problem that the current WIFI personnel positioning system currently used in coal mines is interfered in the complex environment of underground coal mines,resulting in the usage precision errors,it was studied and proposed to use the miniature inertial sensors to make foot trajectory measurement sensors,thus the movement trajectories of underground personnel were calculated and tracked through the inertial trajectory measurement algorithms.The zero-speed detection technology based on fixed threshold and the zero-speed correction technology based on Kalman filter were used to estimate and correct the offset error caused by the long-term operation of the system.It was proved by experiments that the use of miniature inertial sensors could measure and track the personnel trajectories without relying on the external sensors.The application of Kalman filtering could reduce the long-term drift error caused by the inertial trajectory measurement system and avoid the interference to positioning caused by complex underground working environment.
参考文献/References:
［1］谷文伟,高召宁,李颜.极近距离煤层综放开采工作面覆岩“两带”发育规律研究［J］.中国安全生产科学技术,2022,18(5):135-142.
GU Wenwei,GAO Zhaoning,LI Yan.Study on development regularity of “two zones” in overlying strata with fully mechanized caving mining in extremely contiguous coal seams［J］.Journal of Safety Science and Technology,2022,18(5):135-142.
［2］吴增彤,姜福川,卢国斌,等.区块链技术在煤矿安全投入中的应用探讨［J］.中国安全生产科学技术,2021,17(5):187-192.
WU Zengtong,JIANG Fuchuan,LU Guobin,et al.Discussion on application of blockchain technology in safety investment of coal mine［J］.Journal of Safety Science and Technology,2021,17(5):187-192.
［3］HILI K,SAMMUT A.Pedestriantracking through inertial measurements:a data-fitting approach to minimise velocity drift［C/OL］//2016 International Conference on Indoor Positioning and Indoor Navigation.New York:Ieee,2016.
［4］张宁,付炜平,孟荣,等.室内空间定位方法研究综述［J］.科学技术与工程,2022,22(3):882-892.
ZHANG Ning,FU Weiping,MENG Rong,et al.Review on the Indoor Space Positioning Methods［J］.Science Technology and Engineering,2022,22(3):882-892.
［5］李涛,刘旭,邓帅,等.井下无线定位系统综述［J］.有色金属(矿山部分),2018,70(5):91-94.
LI Tao,LIU Xu,DENG Shuai,et al.Survey on underground wireless positioning system［J］.Nonferrous Metals(Mining Section),2018,70(5):91-94.
［6］王行娟.基于WiFi的分级室内定位［J］.电讯技术,2021,61(10):1291-1296.
［7］WANG N,ZOU Q,MA Q,et al.A light tracker for online multiple pedestrian tracking［J/OL］.Journal of Real-Time Image Processing,2021,18(1):175-191.
［8］李博文,姚丹亚.低成本车载MEMS惯导导航定位方法［J/OL］.中国惯性技术学报,2014,22(6):719-723.
LI Bowen,YAO Danya.Low-cost MEMS IMU navigation positioning method for land vehicle［J/OL］.Journal of Chinese Inertial Technology,2014,22(6):719-723.
［9］刘维,王明杭,朱志宇.基于MEMS传感器的惯导系统预处理和姿态解算［J］.传感技术学报,2019,32(11):1677-1681.
LIU Wei,WANG Minghang,ZHU Zhiyu.Preprocessing and attitude calculation of inertial navigation system based on MEMS sensor［J］.Chinese Journal of Sensors and Actuators,2019,32(11):1677-1681.
［10］ZHENG J,QI M,XIANG K,et al.IMU Performance analysis for a pedestrian tracker［C/OL］//International Conference on Intelligent Robotics and Applications.2017.
［11］BAHILLO A,ANGULO I,ONIEVA E,et al.Low-cost bluetooth root-mounted IMU for pedestrian tracking in industrial environments［C/OL］//2015 Ieee International Conference on Industrial Technology (icit).New York:IEEE,2015:3430-3434.
［12］郭倩倩,崔丽珍,杨勇,等.基于LSTM个性化步长估计的井下人员精准定位PDR算法［J］.工矿自动化,2022,48(1):33-39.
GUO Qianqian,CUI Lizhen,YANG Yong,et al.PDR algorithm for precise positioning of underground personnel based on LSTM personal step size estimation［J］.Industry and Mine Automation,2022,48(1):33-39.
［13］张春熹,卢鑫,李皓阳.基于零速检测校正和运动约束的MEMS导航定位技术［J/OL］.第五届全国自主导航学术会议（CCAN2021）论文集——下一代轻小型、快响应惯性导航技术,2021:2-12.
［14］乐燕芬,许远航,施伟斌.基于DPC指纹子空间匹配的室内WiFi定位方法［J/OL］.仪器仪表学报,2021,42(11):106-114.
LE Yanfen,XU Yuanhang,SHI Weibin.Wifi fingerprint based indoor positioning with subspace matching and DPC［J/OL］.Chinese Journal of Scientific Instrument,2021,42(11):106-114.
［15］贺磊,魏明生,仇欣宇.基于UWB的井下人员定位算法研究［J/OL］.工矿自动化,2022,48(6):134-138.
相似文献/References:
备注/Memo
- 备注/Memo:
-
收稿日期： 2022-07-25
* 基金项目： 国家重点研发计划项目（2021YFC3001905）
作者简介： 康俊瑄，硕士研究生，主要研究方向为惯性导航制导与控制。
