Tunnel personnel positioning method based on TOA and modified location-fingerprint positioning |
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| Affiliation: | 1. School of Mechanical Electronic & Information Engineering, China University of Mining & Technology, Beijing 100083, China;2. Branch of Mine Safety Equipment Technology, China Coal Research Institute, Beijing 100013, China;1. State Key laboratory of Deep Geomechanics and Underground Engineering, China University of Mining & Technology, Xuzhou 221008, China;2. School of Resource and Earth Science, China University of Mining & Technology, Xuzhou 221008, China;1. State Key Laboratory for Geomechanics & Deep Underground Engineering, China University of Mining & Technology, Xuzhou 221116, China;2. School of Mechanics & Civil Engineering, China University of Mining & Technology, Xuzhou 221116, China;1. School of Mechanics & Civil Engineering, China University of Mining & Technology, Xuzhou 221116, China;2. State Key Laboratory for Geomechanics & Deep Underground Engineering, China University of Mining & Technology, Xuzhou 221116, China;1. Department of Electronic Engineering, City University of Hong Kong, Hong Kong, China;2. Department of Electronic and Information Engineering, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen, China |
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| Abstract: | To position personnel in mines, the study discussed in this paper built on the tunnel personnel positioning method on the basis of both TOA and location-finger print(LFP) positioning. Given non-line of sight(NLOS) time delay in signal transmission caused by facilities and equipment shielding in tunnels and TOA measurement errors in both LFP database data and real-time data, this paper puts forth a database data de-noising algorithm based on distance threshold limitation and modified mean filtering(MMF), as well as a real-time data suppression algorithm based on speed threshold limitation and MMF.On this basis, a nearest neighboring data matching algorithm based on historical location and the speed threshold limitation is used to estimate personnel location and realize accurate personnel positioning.The results from both simulation and the experiment suggest that: compared with the basic LFP positioning method and the method that only suppresses real-time data error, the tunnel personnel positioning methods based on TOA and modified LFP positioning permits effectively eliminating error in TOA measurement, making the measured data close to the true positional data, and dropping the positioning error:the maximal positioning error in measurements from experiment drops by 9 and 3 m, respectively, and the positioning accuracy of 3 m is achievable in the condition used in the experiment. |
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| Keywords: | Tunnel Positioning TOA Location-finger print (LFP) Modified mean filtering (MMF) Distance threshold Speed threshold |
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