Wang Lei, Zhang Shangqi, Qi Junyan, Chen Hongren, Yuan Ruifu
School of Computer Science and Technology, Henan Polytechnic University, Jiaozuo 454000, China.
School of Software, Henan Polytechnic University, Jiaozuo 454000, China.
Micromachines (Basel). 2023 Jul 24;14(7):1481. doi: 10.3390/mi14071481.
The application of an ultra-wideband (UWB) positioning system in a Global Positioning System (GPS) denial environment such as an underground coal mine, mainly focuses on position information and rarely involves information such as direction attitude. Position accuracy is often affected by multipath, non-visible ranges, base station layout, and more. We proposed an IMU-assisted UWB-based positioning system for the provision of positioning and orientation services to coal miners in underground mines. The Error-State Kalman Filter (ESKF) is used to filter the errors in the measured data from the IMU-assisted UWB positioning system to obtain the best estimate of the error for the current situation and correct for inaccuracies due to approximations. The base station layout of the IMU-assisted UWB positioning system was also simulated. The reasonable setting of the reference base station location can suppress multi-access interference and improve positioning accuracy to a certain extent. Numerous simulation experiments have been conducted in GPS denial environments, such as underground coal mines. The experimental results show the effectiveness of the method for determining the position, direction, and attitude of the coal miner under the mine, which provides a better reference value for positioning and orientation in a GPS rejection environment such as under the mine.
超宽带（UWB）定位系统在诸如地下煤矿等全球定位系统（GPS）信号被遮挡的环境中的应用，主要聚焦于位置信息，很少涉及方向姿态等信息。定位精度常常受到多径、非可视范围、基站布局等因素的影响。我们提出了一种基于惯性测量单元（IMU）辅助的超宽带定位系统，用于为地下煤矿中的矿工提供定位和定向服务。误差状态卡尔曼滤波器（ESKF）用于对来自IMU辅助超宽带定位系统的测量数据中的误差进行滤波，以获得当前情况下误差的最佳估计，并校正由于近似值导致的不准确。还对IMU辅助超宽带定位系统的基站布局进行了模拟。参考基站位置的合理设置可以抑制多址干扰，并在一定程度上提高定位精度。已经在诸如地下煤矿等GPS信号被遮挡的环境中进行了大量模拟实验。实验结果表明了该方法在确定井下矿工位置、方向和姿态方面的有效性，这为在诸如井下等GPS信号无法使用的环境中的定位和定向提供了更好的参考价值。
