Fusion positioning method of underground mine personnel

For problems that time of flight (TOF) ranging positioning method has many blind spots and limited positioning accuracy, which is easily interfered by non-line-of-sight, and strapdown inertial navigation positioning method has a long time accumulated error, a fusion positioning method of underground mine personnel based on TOF ranging positioning and strapdown inertial navigation positioning is proposed. The method locates by region. When positioning terminal is located within short-range wireless communication coverage area of positioning base station, TOF ranging positioning method is used to send positioning result to nearby positioning base station through short-range wireless communication mode. When positioning terminal is located outside short-range wireless communication coverage area of positioning base station, strapdown inertial navigation positioning method is used, and positioning data is corrected by Kalman filter algorithm and sent to nearby positioning base station through long-range wireless communication mode. When positioning terminal is located outside long-range wireless communication coverage area of positioning base station, positioning terminal locally stores positioning data. When positioning terminal moves within wireless communication coverage area of positioning base station, the stored positioning data is sent to positioning base station. The positioning base station transmits the positioning data to ground monitoring center to obtain personnel trajectory and position coordinates. The experimental results show the effectiveness of the method.