Two-dimensional accurate personnel positioning method in underground coal mine based on Kalman filter

Due to affects of clock synchronization error, clock timing error, multipath effect, not line of sight （NLOS）delay error, electromagnetic disturbance between positioning substation and positioning card, it has large positioning error in the existing personnel positioning methods in underground coal mine and it is difficult to meet requirements of coal mine accident emergency rescue, transportation and electromechanical accident prevention and control. In order to improve positioning accuracy and achieve two-dimensional accurate personnel positioning in underground coal mine, a two-dimensional accurate personnel positioning method in underground coal mine based on Kalman filter was proposed: the distance between positioning card and positioning substation measured by the positioning substation is taken as measurement result of Kalman filter, the miner's position is calculated by established mathematical model of underground miner movement, which is taken as prediction result of Kalman filter.The measurement results and the prediction results were weighted reasonably,the best estimate value at the current time is obtained from the best estimate value after the previous step by Kalman filter, so as to realize two-dimensional accurate personnel positioning in underground coal mine.