Mine personnel fusion location system

For problems that mine personnel location system based on traditional received signal strength indication (RSSI) fingerprint location algorithm had heavy workload in fingerprint database collection during off-line stage and was easily influenced by underground environment, and the location system based on pedestrian dead reckoning (PDR) algorithm had accumulative error, a mine personnel fusion location system was proposed which was based on an improved RSSI fingerprint location algorithm and PDR algorithm. The system uses intelligent terminals consisting of GS1011 controller and MPU9150 inertial sensor to send the data of inertial sensor, RSSI and timestamp to location server on the ground through underground WiFi network. The location server fuses location information of RSSI fingerprinting location algorithm and PDR algorithm by use of extended Kalman filter, so as to realize underground personnel location. The test result shows that the average location error of the system is 1.79 m and smaller than the one of RSSI fingerprint location algorithm or PDR algorithm, and location accuracy satisfies underground personnel location requirement.