基于区域判定的超宽带井下高精度定位

为满足煤矿井下对高精度定位日益增长的需求，应用高精度无线收发芯片DW1000，设计实现了一套基于超宽带（UWB）通信的井下定位基站与标签。为提高基站和标签之间的测距精度，采用非对称双边双向测距（ADS-TWR）算法，抑制节点时钟偏移引起的测距误差；针对井下多基站定位中，标签的每一次定位都需广播请求帧而产生大量无效通信的问题，提出一种基于ADS-TWR的标签区域判定策略，使得标签只与所在区域基站通信便可完成定位，并引入标签的区域异常自检和区域校正机制，保证系统的高效稳定运行；在标签坐标解析阶段，采用三角形质心算法，在高精度测距基础上进一步提高定位精度，减少定位处理时间。实验结果表明：标签的定位精度在15 cm以内，满足井下高精度定位要求。

UWB high-precision localization in underground coal mine based on region determination

To meet the increasing demand of high-precision localization in coal mine, a set of underground positioning anchors and tags based on Ultra WideBand (UWB) communication were designed and implemented by applying high-precision wireless transceiver chip DW1000. Asymmetric Double Sided Two-Way Ranging (ADS-TWR) algorithm was used to improve the accuracy of ranging between the anchor and the tag, which effectively suppressed the error caused by clock drift. Aiming at the problem that a large amount of invalid communication was generated by the tag broadcasting request frame when starting the localization in the underground multi-anchor layout, a region determination strategy for tags based on ADS-TWR was proposed, which made a tag communicate with the anchors in its region only. At the same time, region abnormal self-checking and region correction mechanism for tags were introduced to ensure the efficient and stable operation of the system. In the coordinate analysis phase for tags, triangle centroid algorithm was used to further improve localization accuracy based on high-precision ranging and reduce localization processing time. Finally, the experimental results show that the localization accuracy of tags is within 15 cm, which meets the requirement of high-precision localization in underground coal mine.