煤矿井下定位导航技术研究进展
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摘要
煤矿井下为完全封闭空间,面临着复杂的电磁环境,也没有卫星导航信号辅助实现设备和人员的定位,导航难度很大。基于《煤炭行业绿色矿山建设规范》中建设智能化矿山的基本要求,介绍了现有定位导航技术并进行对比,分析了地下定位导航策略的组合类型,回顾了地下定位导航滤波和位置估计算法的最新研究成果,最后提出和展望了井下设备自主定位与导航技术及相关算法的发展方向。
Underground coal mine is a completely enclosed space facing complex electromagnetic environment.Without the assistance of satellite navigation signal,it is very difficult to realize the positioning and navigation of underground equipment and personnel.Based on the basic requirements of building intelligent mines in the Green Mine Construction Specification of Coal Industry,the existing positioning and navigation technologieswere introduced and analyzed comparatively.The combination types of underground positioning and navigation strategies were analyzed and the recent research directions of filtering algorithms and positioning estimation algorithms for underground positioning and navigation were reviewed.Finally,the development direction of underground positioning and navigation technology and related algorithms were proposed and prospected.
Underground coal mine is a completely enclosed space facing complex electromagnetic environment.Without the assistance of satellite navigation signal,it is very difficult to realize the positioning and navigation of underground equipment and personnel.Based on the basic requirements of building intelligent mines in the Green Mine Construction Specification of Coal Industry,the existing positioning and navigation technologieswere introduced and analyzed comparatively.The combination types of underground positioning and navigation strategies were analyzed and the recent research directions of filtering algorithms and positioning estimation algorithms for underground positioning and navigation were reviewed.Finally,the development direction of underground positioning and navigation technology and related algorithms were proposed and prospected.
引文
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[41]朱恒军,王冠钰,张靓.基于改进Kriging插值的煤矿井下定位算法[J].东北石油大学学报,2018,42(6):114-120+12.
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[2]刘公绪,史凌峰.室内导航与定位技术发展综述[J].导航定位学报,2018,6(2):11-18.
[3]Yassin A,Nasser Y,Awad M,et al.Recent advances in indoor localization:A survey on theoretical approaches and applications[J].IEEE Communications Surveys&Tutorials,2016,19(2):1327-1346.
[4]Zhou Z,Kavehrad M,Deng P.Indoor positioning algorithm using light-emitting diode visible light communications[J].Optical engineering,2012,51(8).
[5]Lynch J P,Loh K J.A summary review of wireless sensors and sensor networks for structural health monitoring[J].Shock and Vibration Digest,2006,38(2):91-130.
[6]Retscher G,Thienelt M.NAVIO-a navigation and guidance service for pedestrians[J].Positioning,2004,1(8):208-217.
[7]Retscher G,Kealy A.Ubiquitous positioning technologies for modern intelligent navigation systems[J].The Journal of Navigation,2006,59(1):91-103.
[8]Fink A,Beikirch H.Adding link quantity information to redundant RF signal strength estimates for improved indoor positioning[C]//2012International Conference on Indoor Positioning and Indoor Navigation(IPIN).IEEE,2012:1-6.
[9]Song X,Li X,Tang W,et al.A hybrid positioning strategy for vehicles in a tunnel based on RFID and in-vehicle sensors[J].Sensors,2014,14(12):23095-23118.
[10]Wang Y,Li X.The IMU/uwb fusion positioning algorithm based on a particle filter[J].ISPRS International Journal of Geo-Information,2017,6(8):235.
[11]王晖.矿井组合导航系统的设计与应用[D].湘潭:湘潭大学,2012.
[12]迟洪鹏.基于环境自识别的地下无轨车辆定位导航算法研究[J].公路交通科技,2017,34(S2):102-108.
[13]Kaiming Y,Wei Y,Ruisong H.The video collaborative localization of a miner's lamp based on wireless multimedia sensor networks for underground coal mines[J].Sensors,2015,15(10):25103-25122.
[14]Chen Y,Tang J,HyyppJ,et al.Mobile laser scanning based 3Dtechnology for mineral environment modeling and positioning[C]//2016 Fourth International Conference on Ubiquitous Positioning,Indoor Navigation and Location Based Services(UPINLBS).IEEE,2016:289-294.
[15]Errington A F C,Daku B L F,Prugger A F.Initial position estimation using RFID tags:A least-squares approach[J].IEEE Transactions on Instrumentation and Measurement,2010,59(11):2863-2869.
[16]Kai H,Xianmin M.Research on avoidance obstacle strategy of coal underground inspection robot based on binocular vision[C]//2017 29th Chinese Control And Decision Conference(CCDC).IEEE,2017:6732-6737.
[17]Xu Z,Yang W,You K,et al.Vehicle autonomous localization in local area of coal mine tunnel based on vision sensors and ultrasonic sensors[J].PloS one,2017,12(1):e0171012.
[18]Qigao F,Wei L,Jing H,et al.Integrated positioning for coal mining machinery in enclosed underground mine based on SINS/WSN[J].The Scientific World Journal,2014:1-12.
[19]Zhang K,Zhu M,Retscher G,et al.Three-dimension indoor positioning algorithms using an integrated RFID/INSsystem in multi-storey buildings[M]//Location Based Services and TeleCartography II.Springer,Berlin,Heidelberg,2009:373-386.
[20]Belyaev E N.Extended investigation into continuous laser scanning of underground mine workings by means of Landis inertial navigation system[C]//IOP Conference Series:Earth and Environmental Science.IOP Publishing,2017,87(5):052002.
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[22]赵悦,兰英,屈贤.基于MEMS传感器的煤矿井下人员定位系统设计[J].工矿自动化,2018,44(8):87-91.
[23]罗宇锋,杨益龙.基于降阶组合定位系统的矿井人员定位算法[J].电子测量技术,2016,39(5):93-96.
[24]万文辉,李宇,胡文敏,等.基于联邦滤波进行立体相机/IMU/里程计运动平台组合导航定位[J].武汉大学学报(信息科学版),2018,43(1):101-106.
[25]Li Z,Feng L,Yang A.Fusion based on visible light positioning and inertial navigation using extendedKalman filters[J].Sensors,2017,17(5):1093.
[26]Li Z,Yang A,Lv H,et al.Fusion of visible light indoor positioning and inertial navigation based on particle filter[J].IEEE Photonics Journal,2017,9(5):1-13.
[27]Wen C,You C,Peng L,et al.Research on indoor visible light positioning system based on SLAM maps[C]//2018International Conference on Image and Video Processing,and Artificial Intelligence.International Society for Optics and Photonics,2018,10836:108361Z.
[28]王光辉,刘洪霞,胡浩舒,沈苏彬.室内定位算法综述[J].南京邮电大学学报(自然科学版),2011,10(31s):16-22.
[29]Yang Y,Gao W,Zhang X.RobustKalman filtering with constraints:a case study for integrated navigation[J].Journal of Geodesy,2010,84(6):373-381.
[30]Qigao F,Yaheng W,Jing H,et al.Integrated navigation fusion strategy of INS/UWB for indoor carrier attitude angle and position synchronous tracking[J].The Scientific World Journal,2014:1-13.
[31]Ruotsalainen L,Kirkko-Jaakkola M,Rantanen J,et al.Error modelling for multi-sensor measurements in infrastructure-free indoor navigation[J].Sensors,2018,18(2):590.
[32]Dorais G A,Gawdiak Y,Clancy D.The Challenge of Planning and Execution for Spacecraft Mobile Robots[EB/OL].https://ntrs.nasa.gov,2002.
[33]Heidari M,Pahlavan K.Identification of the absence of direct path in toa-based indoor localization systems[J].International Journal of Wireless Information Networks,2008,15(3-4):117-127.
[34]He J,Geng Y,Liu F,et al.CC-KF:Enhanced TOAperformance in multipath and NLOS indoor extreme environment[J].IEEE Sensors Journal,2014,14(11):3766-3774.
[35]蒋龙娇.UKF煤矿井下捷联惯导大失准角初始对准应用研究[D].徐州:中国矿业大学,2014.
[36]叶雷.粒子滤波及其在捷联惯性导航系统中的应用研究[D].徐州:中国矿业大学,2014.
[37]Wang F,Wang C,Wang Z J,et al.Research on 3DLocalization Algorithm of Wireless Sensor Networks in Underground Coal Mine[C]//Proceedings of the 2015Workshop on Mobile Big Data.ACM,2015:53-57.
[38]Yi L,Tao L,Jun S.RSSI localization method for mine underground based on RSSI hybrid filtering algorithm[C]//2017IEEE 9th International Conference on Communication Software and Networks(ICCSN).IEEE,2017:327-332.
[39]Fu S,Li Y,Zhang M,et al.Ultra-wideband pose detection system for boom-typeroadheader based on Caffery transform and Taylor series expansion[J].Measurement Science and Technology,2017,29(1):015101.
[40]杜京义,郭金宝,张渤.井下无人驾驶列车惯性导航定位系统[J].工矿自动化,2018,44(9):5-9.
[41]朱恒军,王冠钰,张靓.基于改进Kriging插值的煤矿井下定位算法[J].东北石油大学学报,2018,42(6):114-120+12.
[42]张博渊.采煤机动态精准定位方法研究[D].徐州:中国矿业大学,2017.