井下无轨设备移动定位系统关键技术研究

发布时间：2018-07-03 13:18

本文选题：井下定位 + CSS　；参考：《电子科技大学》2015年硕士论文

【摘要】：随着地表矿产被大量开采,采矿工业不断向地下深层发展。由于井下工作环境恶劣,不仅会对工作人员产生人身危害,而且使井下无轨设备驾驶人员判断力和执行力受到严重干扰,导致车祸事故时有发生,同时生产效率也受到影响,井下无轨设备工作安全性问题成为限制采矿工业发展的一大重要因素。为解决井下无轨设备安全工作问题,本文设计了基于SDS-TWR算法的CSS定位系统对移动中的无轨设备与工作人员和其他设备之间的距离进行实时定位,并向驾驶人员反馈距离状态信息。首先,本文结合井下工作环境特殊性以及无轨设备在井下工作特点,对系统的功能需求和性能指标进行了分析,在此基础上对比常用的Wi-Fi、RFID、ZigBee、UWB、CSS等定位技术的现状、特点、应用范围,并分别从经济性、可靠性、定位精度及井下环境适用性等方面作比较,提出了适合与井下环境的CSS定位技术,并在德国Nanotron公司的nanoPAN5375射频模块的基础上设计了CSS定位系统的硬件设施。其次,本文对井下环境中影响定位效果的因素进行了分析,针对井下环境中出现的测距正值误差问题提出了扩展的卡尔曼滤波方法对其进行修正,提高定位精度,对定位过程中出现的测距丢包现象提出了分段最小二乘法插值算法,提高定位系统实时稳定性。最后,在Qt平台下编写了上位机软件对定位数据进行处理分析,向驾驶人员实时反馈无轨设备距离状态监控信息。并分别在理想环境和模拟井下巷道环境中对系统进行了测试,将测试结果用Matlab绘图分析,验证了井下无轨设备移动定位系统能适用于井下对移动节点的实时定位,精度满足需求。
[Abstract]:As surface minerals are exploited in large quantities, the mining industry continues to develop deep underground. Due to the poor working environment in the underground, it will not only cause personal harm to the staff, but also seriously interfere with the judgment and execution of the operators of the underground trackless equipment, resulting in accidents occurring from time to time, and at the same time, the production efficiency will also be affected. Working safety of underground trackless equipment has become an important factor restricting the development of mining industry. In order to solve the safety problem of underground trackless equipment, a CSS positioning system based on SDS-TWR algorithm is designed to locate the distance between trackless equipment, workers and other equipments in real time. Feedback distance status information to driver. First of all, combining the particularity of underground working environment and the working characteristics of trackless equipment in underground, this paper analyzes the functional requirements and performance indexes of the system, and then compares the status quo, characteristics and application scope of the commonly used positioning technologies such as Wi-Fi Field-RFID-ZigBee-UWBBCSS, etc. Compared with other aspects, such as economy, reliability, positioning precision and applicability of underground environment, the CSS positioning technology suitable for underground environment is put forward. Based on Nanotron nanoPAN5375 RF module, the hardware of CSS positioning system is designed. Secondly, this paper analyzes the factors that affect the positioning effect in downhole environment, and puts forward an extended Kalman filter method to improve the positioning accuracy, aiming at the problem of the positive error of ranging in the downhole environment. A piecewise least square interpolation algorithm is proposed to improve the real-time stability of the location system. Finally, the upper computer software is written on QT platform to process and analyze the positioning data, and feedback the distance monitoring information of trackless equipment to the driver in real time. The system is tested in ideal environment and simulated underground roadway environment. The test results are analyzed by Matlab, and it is verified that the moving positioning system of underground trackless equipment can be used to locate the moving nodes in the downhole in real time. The precision meets the demand.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD525

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