IMM在煤矿井下轨道火车实时定位中的应用

针对煤矿井下轨道火车所处的特殊环境，及其不同的运动状态（机动、非机动），传统卡尔曼滤波在井下实时定位系统中不能很好反应滤波误差问题。提出了交互多模卡尔曼滤波（interaction multiple model Kalman filter ， IMM-Kalman）数据处理方法。采用IMM-Kalman滤波对基于Wi-Fi和微惯性单元进行组合定位算法估算出轨道火车的位置进行滤波处理。经过仿真验证IM M-Kalman滤波能有效地减少实时定位滤波误差，然而能提高系统的实时性和定位精度。

Application of interaction multiple model in underground railway train real time positioning

Because of the special environment of the underground railway train ,and the different operating condition (maneuvering or nonmaneuvering ) ,with traditional Kalman Filter ,it is difficult to react filtering error problem in the mine real-time positioning system .proposes the data processing method with interaction multiple model Kalman (IMM-Kalman) Filter .the way adopts IMM-Kalman to filter processing position of underground ailway train estimated by wifi and micro-inertial unit combination location ,The simulation results show that the IMM-Kalman can effectively reduce the real-time positioning error ,so can enhance real-time performance and positioning accuracy .