Mine moving target positioning method based on RSS and TOA complementation

Abstract

The invention discloses a mine moving target positioning method based on RSS (received signal strength) and TOA (time of arrival) complementation, which combines an RSS method and a TOA method and overcomes the defect of overlarge positioning error caused by a traditional single positioning method. The method comprises adopting a distance measurement interval method to suppress an NLOS error signal, solving a distance correction weight value according to a distance relative error value between every two nearest neighbor positioning base stations in the roadway, and performing distance correction on the distance measurement value; obtaining the weight of each distance measurement value by adopting a speed threshold function method, and optimizing the distance measurement values according to the weights; and performing accurate positioning calculation on the corrected distance estimation value through a weighted positioning method. The method solves the problem that an existing mine personnel positioning system and method is influenced by the environment of a roadway and is insufficient in positioning accuracy, is simple and effective in positioning process, has strong anti-electromagnetic interference capability, and can effecively realize the accurate positioning of underground coal mine personnel, vehicles and other moving targets.

Description

technical field [0001] The invention relates to a mine mobile target positioning method based on complementary RSS and TOA, specifically, mainly relates to received signal strength RSS positioning, time of arrival TOA positioning, personnel precise positioning and mine communication technology. Background technique [0002] The Notice of the State Administration of Work Safety and the National Coal Mine Safety Supervision Bureau on the Construction and Improvement of the "Six Major Systems" for Underground Coal Mine Safety Avoidance (An Jian Zong Meizhuang [2010] No. 146) requires the construction and improvement of the coal mine underground personnel positioning system. In order to give full play to the role of the underground personnel positioning system in personnel management and emergency rescue work, it is required that "products with advanced technology, stable performance, and high positioning accuracy should be selected first, so as to ensure accurate control of the ...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to overcome the above-mentioned problems existing in the precise positioning technology of mine personnel, and provide a precise positioning method that is more suitable for the underground roadway environment, which can effectively avoid the signal attenuation characteristics of non-line-of-sight signals in different roadway environments Inconsistency, and overcoming the defect of excessive positioning error caused by the traditional single positioning method

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