摘要
针对矿井巷道环境内存在大量的设备和设施,会造成电磁波传播的NLOS(non line of sight)时延、对矿井TOA(time of arrival)定位精度产生不利影响,根据成因将巷道电磁波传播NLOS时延分为随机NLOS时延和固定NLOS时延,分析了两类NLOS时延造成测距误差的特点。为了分步抑制两类NLOS时延造成的TOA测距定位误差,提出基于改进均值滤波和参数拟合的矿井TOA几何定位算法。针对巷道随机NLOS时延造成的以脉冲形式存在的TOA测距误差,提出基于偏差值丢弃的加权均值滤波算法加以抑制;进而提出依据定位区域巷道固定NLOS时延参数拟合方法,用以抑制其造成的TOA测距正向偏移误差,最后采用几何方法进行目标位置的估计。实验结果表明,提出的方法对巷道NLOS时延造成的TOA定位误差具有显著的抑制作用,能够保证矿井TOA定位的精度。
There are a lot of equipment and facilities in mine roadways,which cause the non line of sight( NLOS) delay of electromagnetic wave propagation and have an adverse impact on the accuracy of mine positioning method based on time of arrival( TOA). The NLOS delay of electromagnetic wave propagation in mine roadways was classified into random NLOS delay and fixed NLOS delay according to the causes and characteristics of ranging errors caused by two kinds of NLOS delay. In order to suppress the positioning errors based on TOA ranging step by step,a mine TOA geometric positioning method based on improved mean filtering and parameter fitting was proposed in this study. In addition,to suppress the TOA ranging errors in the form of impulse caused by roadway random NLOS delay,the weighted mean filtering algorithm with deviant value discarded was provided. Based on this,the parameter fitting method of fixed NLOS delay within the positioning area was put forward to suppress the positive offset errors of TOA ranging and finally the geometric positioning method was adopted to estimate the target location. The experimental results show that the method can significantly suppress the errors of TOA positioning caused by the roadway NLOS delay and maintain the accuracy of mine TOA positioning.
出处
《煤炭学报》
EI
CAS
CSCD
北大核心
2015年第5期1206-1212,共7页
Journal of China Coal Society
基金
国家自然科学基金重点资助项目(51134024)
国家高技术研究发展计划(863)资助项目(2012AA062203)
