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针对煤矿井下一维环境中人员及设备的定位问题,对一维定位理论及应用进行了研究,提出了一维分段定位法,设计了基于无线射频模块的定位系统。定位系统以ATmega1284P微处理器为主控芯片,以nano PAN5375射频模块为核心,采用对称双边双路测距算法(SDS-TWR)实现测距,利用一维分段定位法和卡尔曼滤波算法计算得到最后的定位信息。试验结果表明:系统能够完成实时测距和定位,定位误差可达1 m以内。
In order to solve the problem of locating people and equipment in the one-dimensional coal mine environment, the one-dimensional localization theory and its applications are studied. A one-dimensional positioning method is proposed and a positioning system based on radio frequency module is designed. The positioning system uses the ATmega1284P microprocessor as the main control chip and takes the nano PAN5375 RF module as the core. The system uses the symmetrical double-sided dual-range ranging algorithm (SDS-TWR) to realize the ranging, and uses the one-dimensional positioning method and the Kalman filter algorithm Get the final location information. The experimental results show that the system can finish the real-time ranging and positioning, and the positioning error can reach within 1 m.