井下GRPM定位研究与地磁匹配的仿真试验

针对无电、无网络情况下井下人员逃生定位和救援导航的难题,架构了井下地磁与RFID 射频结合的井下定位方法GRPM(Geomagnetic and Radio Positioning Method)。GRPM采用射频初定位、地磁特征精定位的主动定位模式,适合应急避险与救援定位需求。根据井下高精度地磁测量数据和井下地磁“日变”规律,分析了井下巷道地磁数据具有带状连续、区域易突变的数据特点。采用了分段线性法、最近邻域法和三次曲面法插值方法和MSD,HD和NPROD三种匹配准则,开展了地磁基准构建和地磁匹配定位的仿真实验。实验结果表明:分段线性插值法适合小区域巷道地磁基准建立,拟合快速,精度较高,符合井下巷道磁场分布的收敛性。NPROD定位匹配模型适合井下人员动态行走定位,匹配速度快,达到2/3格网精度,满足精确定位要求。

Algorithm research and simulation experiment of underground positioning with GRPM

It is very difficult for miners to escape or be rescued using the existing mining positioning system without electricity and any network.GRPM is the abbreviation of Geomagnetic and Radio Positioning Method,which is a new active underground positioning method by radio frequency initial positioning and geomagnetism fine positioning,suitable for emergency escape.This study analyzes the high-precision geomagnetic data in underground roadway,which follow a "daily variation" rule with the continuous and regional abrupt change.The geometrical reference simulation is constructed by piecewise linear method,nearest neighbor method and cubic surface interpolation method,and the matching positioning simulation is carried with MSD,HD and NPROD model.The results prove that the piecewise linear interpolation method is suitable for the construction of geometrical reference,fast fitting,high precision,accord with the roadway magnetic distribution.The NPROD model is suitable for the dynamic positioning with a quick calculating speed and a 2/3 mesh precision,and satisfies the requirement of accurate positioning.