本文主要研究内容
作者李康乐（2019）在《基于TOA的煤矿井下人员定位算法研究》一文中研究指出：安全是煤矿生产的基础,井下目标精确定位是煤矿安全的重要保障。煤矿井下人员定位系统能对井下作业人员实时定位,为井下应急救援、人员作业管理以及矿井物联网建设等提供重要位置信息,但是由于矿井巷道狭长封闭,无线信号的传播存在严重的非直射径误差和多径衰落现象,导致当前矿井定位系统定位精度低、适应性差。基于此,本文在分析现有一些矿井人员定位技术和算法的基础上,对基于TOA(Time of Arrival)的煤矿井下人员定位误差优化算法进行了较深入的研究。矿井TOA是基于信号到达时间的定位技术,易受时钟同步、计时偏移和电磁波NLOS(Non Line of Sight)传播等的影响。本文在采用对称双边双路测距算法有效消除同步时延和计时误差的基础上,针对矿井TOA定位精度易受电磁波NLOS传播时延影响的问题,通过对矿井电磁波NLOS传播特性和巷道设备运动特点的分析,提出了巷道电磁波NLOS传播时延参考模型,并依据巷道NLOS时延的成因和特点,将其分为随机NLOS时延和固定NLOS时延,为后面优化算法的研究提供了理论依据。针对由矿井巷道中机车等移动设备以及不规律设置设备引起的、具有随机性和难以定量分析等特点的巷道随机NLOS时延误差,提出了一种基于新息阈值的卡尔曼滤波算法。该算法在经典卡尔曼滤波算法中,引入新息阈值的概念,提高了卡尔曼滤波器对脉冲误差的滤除能力,达到了滤除巷道随机NLOS时延误差的目的。针对由矿井巷道中固定设施及设备造成的具有稳定性和一定规律的巷道固定NLOS时延误差,提出了参数拟合和几何定位算法。该算法通过参数拟合建立巷道测距误差模型,构建了井下固有设备参数与定位估计值间的函数关系,并利用投影几何算法消除定位点漂移现象,有效抑制了巷道固定NLOS时延误差。针对本文所提出的基于新息阈值卡尔曼滤波和参数拟合算法进行了大量仿真实验。首先,通过不同新息阈值和参数拟合值的组合实验,讨论了算法中的关键参数新息阈值和参数拟合值对本文所提算法的作用,验证了本文所提算法的合理性和参数设计的最优性。其次,通过系统的仿真和比较实验,分析本文所提算法对抑制矿井巷道NLOS时延的可靠性和有效性。仿真结果显示,本文所提算法处理后的测量数据定位误差在0～0.8m之间,平均误差为0.3m;且相比于对称双边双路测距算法、卡尔曼滤波和指纹定位算法以及卡尔曼滤波和参数拟合算法,平均定位误差分别减小了3.4m、0.4m和0.6m。从而表明所提算法对TOA定位误差具有较明显的抑制作用,可以实现TOA方法在矿井NLOS环境中的有效应用。
Abstract
an quan shi mei kuang sheng chan de ji chu ,jing xia mu biao jing que ding wei shi mei kuang an quan de chong yao bao zhang 。mei kuang jing xia ren yuan ding wei ji tong neng dui jing xia zuo ye ren yuan shi shi ding wei ,wei jing xia ying ji jiu yuan 、ren yuan zuo ye guan li yi ji kuang jing wu lian wang jian she deng di gong chong yao wei zhi xin xi ,dan shi you yu kuang jing hang dao xia chang feng bi ,mo xian xin hao de chuan bo cun zai yan chong de fei zhi she jing wu cha he duo jing cui la xian xiang ,dao zhi dang qian kuang jing ding wei ji tong ding wei jing du di 、kuo ying xing cha 。ji yu ci ,ben wen zai fen xi xian you yi xie kuang jing ren yuan ding wei ji shu he suan fa de ji chu shang ,dui ji yu TOA(Time of Arrival)de mei kuang jing xia ren yuan ding wei wu cha you hua suan fa jin hang le jiao shen ru de yan jiu 。kuang jing TOAshi ji yu xin hao dao da shi jian de ding wei ji shu ,yi shou shi zhong tong bu 、ji shi pian yi he dian ci bo NLOS(Non Line of Sight)chuan bo deng de ying xiang 。ben wen zai cai yong dui chen shuang bian shuang lu ce ju suan fa you xiao xiao chu tong bu shi yan he ji shi wu cha de ji chu shang ,zhen dui kuang jing TOAding wei jing du yi shou dian ci bo NLOSchuan bo shi yan ying xiang de wen ti ,tong guo dui kuang jing dian ci bo NLOSchuan bo te xing he hang dao she bei yun dong te dian de fen xi ,di chu le hang dao dian ci bo NLOSchuan bo shi yan can kao mo xing ,bing yi ju hang dao NLOSshi yan de cheng yin he te dian ,jiang ji fen wei sui ji NLOSshi yan he gu ding NLOSshi yan ,wei hou mian you hua suan fa de yan jiu di gong le li lun yi ju 。zhen dui you kuang jing hang dao zhong ji che deng yi dong she bei yi ji bu gui lv she zhi she bei yin qi de 、ju you sui ji xing he nan yi ding liang fen xi deng te dian de hang dao sui ji NLOSshi yan wu cha ,di chu le yi chong ji yu xin xi yu zhi de ka er man lv bo suan fa 。gai suan fa zai jing dian ka er man lv bo suan fa zhong ,yin ru xin xi yu zhi de gai nian ,di gao le ka er man lv bo qi dui mai chong wu cha de lv chu neng li ,da dao le lv chu hang dao sui ji NLOSshi yan wu cha de mu de 。zhen dui you kuang jing hang dao zhong gu ding she shi ji she bei zao cheng de ju you wen ding xing he yi ding gui lv de hang dao gu ding NLOSshi yan wu cha ,di chu le can shu ni ge he ji he ding wei suan fa 。gai suan fa tong guo can shu ni ge jian li hang dao ce ju wu cha mo xing ,gou jian le jing xia gu you she bei can shu yu ding wei gu ji zhi jian de han shu guan ji ,bing li yong tou ying ji he suan fa xiao chu ding wei dian piao yi xian xiang ,you xiao yi zhi le hang dao gu ding NLOSshi yan wu cha 。zhen dui ben wen suo di chu de ji yu xin xi yu zhi ka er man lv bo he can shu ni ge suan fa jin hang le da liang fang zhen shi yan 。shou xian ,tong guo bu tong xin xi yu zhi he can shu ni ge zhi de zu ge shi yan ,tao lun le suan fa zhong de guan jian can shu xin xi yu zhi he can shu ni ge zhi dui ben wen suo di suan fa de zuo yong ,yan zheng le ben wen suo di suan fa de ge li xing he can shu she ji de zui you xing 。ji ci ,tong guo ji tong de fang zhen he bi jiao shi yan ,fen xi ben wen suo di suan fa dui yi zhi kuang jing hang dao NLOSshi yan de ke kao xing he you xiao xing 。fang zhen jie guo xian shi ,ben wen suo di suan fa chu li hou de ce liang shu ju ding wei wu cha zai 0～0.8mzhi jian ,ping jun wu cha wei 0.3m;ju xiang bi yu dui chen shuang bian shuang lu ce ju suan fa 、ka er man lv bo he zhi wen ding wei suan fa yi ji ka er man lv bo he can shu ni ge suan fa ,ping jun ding wei wu cha fen bie jian xiao le 3.4m、0.4mhe 0.6m。cong er biao ming suo di suan fa dui TOAding wei wu cha ju you jiao ming xian de yi zhi zuo yong ,ke yi shi xian TOAfang fa zai kuang jing NLOShuan jing zhong de you xiao ying yong 。
论文参考文献
论文详细介绍
论文作者分别是来自西安科技大学的李康乐，发表于刊物西安科技大学2019-10-15论文，是一篇关于矿井定位论文,卡尔曼滤波论文,参数拟合论文,西安科技大学2019-10-15论文的文章。本文可供学术参考使用，各位学者可以免费参考阅读下载，文章观点不代表本站观点，资料来自西安科技大学2019-10-15论文网站，若本站收录的文献无意侵犯了您的著作版权，请联系我们删除。
标签：矿井定位论文; 卡尔曼滤波论文; 参数拟合论文; 西安科技大学2019-10-15论文;