矿井机车精确定位技术的研究

发布时间：2018-02-23 13:07

本文关键词： 机车定位 TDOA RSSI 加权最小二乘法泰勒级数最小二乘法　出处：《安徽理工大学》2015年硕士论文　论文类型：学位论文

【摘要】：矿井运输是煤矿安全生产的重要组成部分,而矿井机车是煤矿运输的重要工具,实现矿井机车的精确定位能够有效合理的调度机车,减少矿井运输的安全事故,提高矿井运输效率。因此,本文对矿山井下机车精确定位技术开展了研究。论文介绍了国内外现有的矿井定位技术,分析研究其存在的不足和值得改进的方面；提出了基于TDOA(Time Different of Arrival)的机车定位技术和基于RSSI(Received Signal Strength Indication)的机车定位技术。其取得主要研究成果如下： 1)采用超声波和无线电波的传播时间差实现距离的测量。由于机车在定位过程中是运动的,而且超声波的传播速度较慢,会产生机车位移误差；把位移误差转换为机车到信标节点的距离误差,通过分析计算得出误差补偿后的距离。使用加权最小二乘法估计出机车的初始位置,再使用泰勒级数最小二乘法进行修正。 2)采用无线信号的接收强度实现测距。由于矿井的环境恶劣,无线信号在传播过程中信号不稳定,误差较大；采用高斯模型和加权模型结合的方法获得较为稳定的RSSI值；然后换算成距离,再使用加权最小二乘法估计出机车的初始位置。仅仅使用加权最小二乘法并不能有效的减小一些不确定因素的影响,通过信标节点间采用上述方法得出估计位置,并计算出与其实际位置的误差,并给于该误差相应的权值,距离越大权值越小。最后初始位置和误差修正值的和为最终位置。3)通过MATLAB实验仿真,得出改进后的矿山井下机车定位技术相比传统的定位技术具有较高的定位精度,符合现阶段矿山井下运输的需求。在建立的实验测试平台上对定位技术进行了测试,测试结果表明,本文提出的定位技术符合矿井生产的需求。
[Abstract]:Mine transportation is an important part of coal mine safety production, and mine locomotive is an important tool of coal mine transportation. The accurate positioning of mine locomotive can effectively and reasonably dispatch locomotive and reduce the safety accident of mine transportation. Therefore, the precise positioning technology of mine locomotive is studied in this paper. This paper introduces the existing mine positioning technology at home and abroad, analyzes and studies its shortcomings and aspects worthy of improvement. The locomotive positioning technology based on TDOA(Time Different of Arrivaland and the locomotive positioning technology based on RSSI(Received Signal Strength indication are put forward. The main research results are as follows:. 1) using the time difference between ultrasonic wave and radio wave to measure the distance. Because the locomotive is moving in the positioning process, and the speed of ultrasonic wave propagation is slow, the displacement error of the locomotive will be produced. The displacement error is converted into the distance error from locomotive to beacon node, and the distance compensated by error is obtained through analysis and calculation. The initial position of locomotive is estimated by weighted least square method, and then modified by Taylor series least square method. 2) using the receiving intensity of wireless signal to realize ranging. Because of the bad environment of mine, the wireless signal is unstable in the process of propagation, the error is large, the RSSI value is relatively stable by the combination of Gao Si model and weighted model; Then the distance is converted and the initial position of the locomotive is estimated by using the weighted least square method. Using the weighted least square method alone can not effectively reduce the influence of some uncertain factors. The estimated position is obtained by using the above method between the beacon nodes, and the error corresponding to the actual position is calculated, and the weights corresponding to the error are given. Finally, the sum of initial position and error correction value is the final position. 3) through MATLAB experiment simulation, it is concluded that the improved mine mine locomotive positioning technology has higher positioning accuracy than the traditional positioning technology. In accordance with the requirement of underground transportation in mines at present, the positioning technology is tested on the established experimental test platform. The test results show that the positioning technology proposed in this paper is in line with the requirements of mine production.
【学位授予单位】：安徽理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD524.3

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