基于WSN与惯性导航的井下人员定位系统设计与应用

发布时间：2018-06-30 02:57

本文选题：无线传感器网络 + 人员定位　；参考：《华中科技大学》2013年硕士论文

【摘要】：近年来，我国煤炭产业在能源领域所起作用越来越多重要，煤矿生产的安全问题也日益受到各方面的关注。基于我国煤矿分布特征和生产条件，煤炭开采中人工作业所占的比例大，因此无论从日常生产的管理效率出发，还是从矿难发生时的救援出发，煤炭企业需要了解作业人员在煤矿井下的准确位置分布。目前大部分煤矿使用的安全生产监控系统并不能满足企业的需要，，因此设计具有准确性与实时性的井下人员定位系统具有重要意义。基于上述情况，本文对适用于井下的人员定位技术进行研究，设计符合要求的井下人员定位系统。煤矿井下属于封闭环境，且地形复杂、环境干扰严重，在实现人员的定位的同时，也需要对环境参数进行监控。本文选用无线传感器网络进行煤矿的安全监控与人员定位，充分发挥其集无线通信、数据采集与信息处理等功能于一体，具有自组织性的特点。通过对不同条件下无线信号在室内衰减程度的分析，利用无线传感器网络中的接收信号强度标识进行定位，并针对巷道的一维特性，对加权质心定位算法进行改进，在保证良好定位效果的同时减少了节点布置密度，降低算法复杂度和系统成本。利用无线信号进行定位，无法避免环境因素的干扰，为了进一步提高定位精度，引入属于自主性定位的惯性导航技术作为定位辅助，保证定位系统能在井下恶劣的环境运行。本文主要设计具有实时性的姿态方位参考系统，并基于人员行走的姿态特征，根据脚部姿态角变化，设计零速修正技术，克服惯性导航中误差积累的问题，使其适用于人员定位，从而提高无线传感器网络定位的效果。最后，本文对井下人员定位系统提出整体设计方案，给出本文定位方法的软件与硬件模块的实现，并设计定位系统地面监控与数据库部分，构成完整的煤矿井下人员定位系统。
[Abstract]:In recent years, China's coal industry plays a more and more important role in the field of energy, and the safety of coal production has been paid more and more attention. Based on the distribution characteristics and production conditions of coal mines in China, the proportion of manual work in coal mining is large. Therefore, whether from the efficiency of daily production management or from the rescue of mine accidents, Coal enterprises need to know the exact location of workers in the coal mine. At present, most of the safety production monitoring systems used in coal mines can not meet the needs of enterprises, so it is of great significance to design the accurate and real-time positioning system for underground personnel. Based on the above situation, this paper studies the personnel positioning technology suitable for underground, and designs the downhole personnel positioning system that meets the requirements. The underground coal mine belongs to the closed environment, and the topography is complex, and the environment interference is serious, so it is necessary to monitor and control the environmental parameters while realizing the positioning of the personnel. In this paper, wireless sensor network is used for coal mine safety monitoring and personnel positioning, and its functions such as wireless communication, data acquisition and information processing are brought into full play. It has the characteristics of self-organization. By analyzing the attenuation degree of wireless signal in the room under different conditions, using the received signal strength mark in wireless sensor network to locate, and aiming at the one-dimensional characteristic of roadway, the weighted centroid localization algorithm is improved. At the same time, the node layout density is reduced, the algorithm complexity and the system cost are reduced. In order to further improve the positioning accuracy, the inertial navigation technology, which belongs to autonomous positioning, is introduced to ensure the positioning system can operate in a bad environment. In this paper, a real-time attitude azimuth reference system is designed. Based on the attitude characteristics of human walking and the change of foot attitude angle, a zero-speed correction technique is designed to overcome the problem of error accumulation in inertial navigation. It is suitable for personnel positioning, so as to improve the effect of wireless sensor network location. Finally, this paper puts forward the overall design scheme of the downhole personnel positioning system, gives the realization of the software and hardware modules of the positioning method in this paper, and designs the surface monitoring and database part of the positioning system, which constitutes a complete underground personnel positioning system.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TD76

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