摘要
煤矿井下人、机、物精准位置信息是智能化建设的核心数据基础,位置信息可靠性直接关系到安全生产与智能决策效能。传统单读卡器结合飞行时间定位方案,存在并发量低、方向识别易出错、数据刷新频率低、多读卡器覆盖区域信号竞争等技术瓶颈,导致多目标监测漏读率高、位置信息获取慢、定位不可靠等问题,尤其在多岔路口、分支巷道等复杂拓扑结构中极易出现定位偏差,难以满足智能化场景需求。提出双读卡器协同定位方法,该方法采用分级协同架构,基于巷道拓扑进行区域网格化划分,每个定位网格部署主、从双读卡器协同定位,其单个读卡器可通过动态资源分配策略服务2~3个相邻单元,实现设备复用率提升;定位终端采用基于时分多址与随机退避混合机制的定位时隙管理方式,广播测距帧到读卡器;主、从读卡器通过纳秒级同步时钟,分别捕获信号到达时间、信号强度及设备ID等信息,从读卡器通过专用链路将带时间戳的原始数据实时回传至主读卡器,主读卡器基于双读卡器数据融合策略,运用改进的TDOA定位模型进行非视距误差补偿,最终实现轴向坐标的厘米级定位,定位结果经Kalman滤波优化后上传至中央监控系统。实验结果表明,该定位方法在1 s巡检周期内,并发量不低于200张;在7 m/s运动速度条件下,定位误差<7.3 m,可满足煤矿井下智能化应用需求。
Accurate and precise location information of people,machines and objects in underground coal mines is the core data foundation for intelligent construction.The reliability of location information is directly related to the safety of production and the efficiency of intelligent decision-making.Traditional single card reader combined with time-of-flight positioning schemes have technical bottlenecks such as low concurrency,easy direction recognition errors,low data refresh frequency,and signal competition in multi-card reader coverage areas,resulting in high multi-target monitoring missed reading rates,slow location information acquisition,and unreliable positioning.Especially in complex topological structures such as multi-branch intersections and branch roadways,positioning deviations are prone to occur,making it difficult to meet the needs of intelligent scenarios.A dual-card reader cooperative positioning method was proposed.This method adopts a hierarchical cooperative architecture and divides the area into grids based on the roadway topology.Each positioning grid deploys a master and a slave card reader for cooperative positioning.Each card reader can serve 2-3 adjacent units through a dynamic resource allocation strategy,improving the equipment reuse rate.The positioning terminal uses a hybrid mechanism of time-division multiple access and random backoff for positioning time slot management and broadcasts ranging frames to the card readers.The master and slave card readers capture signal arrival time,signal strength,and device ID information through nanosecond-level synchronized clocks.The slave card reader transmits the original data with timestamps in real time to the master card reader through a dedicated link.The master card reader uses a dual-card reader data fusion strategy and an improved TDOA positioning model for non-line-of-sight error compensation to achieve centimeter-level positioning in the axial coordinate.The positioning results are optimized by Kalman filtering and uploaded to the central monitoring system.Experimental tests show that this positioning method has a concurrency of no less than 200 within a 1 second inspection cycle and a positioning error of less than 7.3 meters at a movement speed of 7 meters per second,meeting the needs of intelligent applications in underground coal mines.
作者
胡亮
Hu Liang(CCTEG Chongqing Research Institute,Chongqing 400039,China)
出处
《能源与环保》
2025年第6期185-189,共5页
CHINA ENERGY AND ENVIRONMENTAL PROTECTION
基金
天地科技股份有限公司科技创新创业资金专项项目(2024-2-TD-CYD002)。
关键词
煤矿精确定位
煤矿智能化
双读卡器
协同定位
precise positioning in coal mines
intelligentization of coal mines
dual card readers
collaborative positioning
