测距平面约束下投影巷道空间的扩频定位方法

发布时间：2018-04-25 09:41

  本文选题：巷道 + 扩频定位　； 参考：《煤炭学报》2017年05期

【摘要】：扩频测距是实现TOA定位的一种重要方式,在矿井环境下,由于密集多径的影响,其所测量数据具有非零均值的正向误差,严重影响目标的定位精度。针对这一问题,在研究井下巷道扩频测距正向偏差产生机制的基础上,提出一种测距平面约束下投影巷道空间的定位方法,以巷道延伸方向为x轴,巷道宽方向为y轴,建立测距平面,由于矿井巷道是狭长链状的,可以忽略定位目标在巷道内横截面上的信息,只关心定位目标在巷道内x方向上的位置信息,因此方法采用向x方向投影实现移动目标的一维定位,并充分利用y方向的冗余信息对定位目标点在测距平面上加以约束以使得x方向的估计值向真实值趋近,同时测距偏移误差转移到定位目标点的y方向,显著优化了x方向的定位精度。试验结果表明,该方法能够统一NLOS与LOS定位场景,不但在巷道方向上可获得零均值误差的定位估计值,而且能有效抑制测距系统的随机误差。
[Abstract]:Spread spectrum ranging is an important way to realize TOA location. In the mine environment, because of the influence of dense multipath, the measured data have the positive error of non-zero mean value, which seriously affects the positioning accuracy of the target. In order to solve this problem, on the basis of studying the mechanism of generating forward deviation of spread spectrum ranging in underground roadway, a method of locating the space of projection roadway under the constraint of ranging plane is proposed. The extended direction of roadway is x axis, and the wide direction of roadway is y axis. Because the mine laneway is narrow and long chain, it can ignore the information of the location target on the cross section of the tunnel, and only care about the location information of the location target in the x direction of the roadway. In this method, one dimensional location of moving target is realized by projection to x direction, and the redundant information in y direction is fully used to constrain the location point on the ranging plane to make the estimated value of x direction approach to the true value. At the same time, the ranging offset error is transferred to the y direction of the target point, and the location accuracy of the x direction is significantly optimized. The experimental results show that this method can unify the NLOS and LOS location scenes, not only can obtain the location estimation of zero mean error in the roadway direction, but also can effectively suppress the random error of the ranging system.
【作者单位】： 中国矿业大学(北京)机电与信息工程学院;
【基金】：国家自然科学基金重点资助项目(51134024) 国家重点研发计划资助项目(2016YFC0801800)
【分类号】：TD76;TN914.42
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本文编号：1800813