A fusion positioning method for underground personnel based on UWB and PDR

JIA Yutao; LI Guanhua; PAN Hongguang; CHEN Haijian; WEI Xuqiang; BAI Junming

doi:10.13272/j.issn.1671-251x.2024010071

Volume 50 Issue 6

Jun. 2024

Turn off MathJax

Article Contents

Abstract

References

Journal of Mine Automation > 2024 > 50(6): 96-102, 135. > DOI: 10.13272/j.issn.1671-251x.2024010071

JIA Yutao, LI Guanhua, PAN Hongguang, et al. A fusion positioning method for underground personnel based on UWB and PDR[J]. Journal of Mine Automation，2024，50（6）：96-102, 135. DOI: 10.13272/j.issn.1671-251x.2024010071

Citation:

PDF (2644 KB)

A fusion positioning method for underground personnel based on UWB and PDR

JIA Yutao^1,,
LI Guanhua²,
PAN Hongguang^{3, 4, ,},
CHEN Haijian²,
WEI Xuqiang^{3, 4},
BAI Junming^{3, 4}

1.
CHN Energy Shendong Coal Group Co., Ltd., Yulin 719315, China
2.
CCTEG Changzhou Research Institute, Changzhou 213015, China
3.
College of Electrical and Control Engineering, Xi'an University of Science and Technology, Xi'an 710054, China
4.
Xi'an Key Laboratory of Electrical Equipment Condition Monitoring and Power Supply Security, Xi'an 710054, China

More Information

Received Date: January 21, 2024
Revised Date: June 17, 2024
Available Online: July 09, 2024

Graphical Abstract

Abstract

Abstract

Most existing fusion positioning methods for ultra-wideband (UWB) and pedestrian dead reckoning (PDR) ignore the correction of positioning errors in non line of sight (NLOS) environments. The methods use simple threshold division as the basis for NLOS environment judgment, which is largely related to the positioning scene and site size. In order to solve the above problems, a fusion positioning method for underground personnel considering NLOS environment is proposed. Firstly, UWB technology is used to calculate the position of underground personnel. After obtaining the preliminary position of personnel through the trilateral positioning algorithm, the least squares method is used to optimize the position. Polynomial fitting is used to achieve the fitting between the actual value and the measured value between the base station and the tag in the NLOS environment, reducing the ranging error in the NLOS environment and improving the positioning precision. Secondly, the PDR algorithm is used for gait recognition and analysis. The PDR algorithm uses gait data collected by inertial navigation sensors to update the target position through gait recognition, step size estimation, and direction estimation. Thirdly, the convolutional neural network (CNN) - long short term memory (LSTM) network is used to analyze the features of channel impulse response (CIR) and achieve line of sight (LOS)/NLOS recognition. It solves the problem of scene limitations in NLOS environment judgment. Finally, the fusion coefficient is determined based on the LOS/NLOS recognition results to achieve the fusion of UWB and PDR positioning results. The experimental results show that after polynomial fitting, the average ranging error of UWB is reduced by 0.59 m. The average accuracy of LOS/NLOS recognition is 95.3%, and the recall rate and F₁ score are both above 90%, verifying that CNN-LSTM has good recognition performance. The average error of the fusion positioning method is 0.31 m, which is 1.57 m lower than UWB and 1.41 m lower than PDR.
- underground personnel positioning,
- UWB,
- pdestrian dead reckoning,
- PDR,
- fusion positioning,
- non line of sight environment,
- least squares method,
- polynomial fitting,
- CNN-LSTM,
- LOS,
- NLOS

FullText(HTML)

References (25)

References

[1]	王显政. “以煤为基,多元发展”是我国能源安全战略的必然选择[J]. 煤炭经济研究,2014,34(4):1. WANG Xianzheng. "Coal-based,diversified development" is the inevitable choice of China's energy security strategy[J]. Coal Economy Research,2014,34(4):1.
[2]	LI Menggang,ZHU Hua,YOU Shaoze,et al. UWB-based localization system aided with inertial sensor for underground coal mine applications[J]. IEEE Sensors Journal,2020,20(12):6652-6669. DOI: 10.1109/JSEN.2020.2976097
[3]	ZHAO Yuxuan,WANG Manyi. The LOS/NLOS classification method based on deep learning for the UWB localization system in coal mines[J]. Applied Sciences,2022,12(13). DOI: 10.3390/app12136484.
[4]	陈炜翰,李世银. 基于超宽带和微惯导组合的室内精确定位[J]. 电子元器件与信息技术,2020,4(1):24-26. CHEN Weihan,LI Shiyin. Indoor precise positioning based on ultra-wideband and micro-inertial navigation combination[J]. Electronic Component and Information Technology,2020,4(1):24-26.
[5]	汪义庭. 基于UWB的无线室内定位系统设计与实现[D]. 淮南:安徽理工大学,2019. WANG Yiting. Design and implementation of wireless indoor positioning system based on UWB[D]. Huainan:Anhui University of Science & Technology,2019.
[6]	BRIGADNOV I,LUTONIN A,BOGDANOVA K. Error state extended Kalman filter localization for underground mining environments[J]. Symmetry,2023,15(2). DOI: 10.3390/sym15020344.
[7]	YU Da,LI Changgeng,XIAO Jiaxun. Neural networks-based Wi-Fi/PDR indoor navigation fusion methods[J]. IEEE Transactions on Instrumentation and Measurement,2023,72:1-14.
[8]	李金奎. 基于超声波时差法定位系统设计[J]. 自动化应用,2022(10):11-14. LI Jinkui. Design of positioning system based on ultrasonic time difference method[J]. Automation Application,2022(10):11-14.
[9]	陶靖. 煤矿测量红外定位放线装置的研制[J]. 煤矿机电,2020,41(3):111-112,115. TAO Jing. Development of infrared positioning and actuating device for coal mine measurement[J]. Colliery Mechanical & Electrical Technology,2020,41(3):111-112,115.
[10]	王轩. 基于模式感知和地图匹配的PDR/BLE室内融合定位方法研究[D]. 徐州:中国矿业大学,2021. WANG Xuan. Research on PDR/BLE indoor fusion positioning based on mode awareness and map matching[D]. Xuzhou:China University of Mining and Technology,2021.
[11]	KONG Xiaotong,WU Chang,YOU Yuan,et al. Hybrid indoor positioning method of BLE and PDR based on adaptive feedback EKF with low BLE deployment density[J]. IEEE Transactions on Instrumentation and Measurement,2023,72:1-12.
[12]	李宗伟,王翀,王刚,等. 煤矿井下人员融合定位方法[J]. 工矿自动化,2020,46(1):59-64. LI Zongwei,WANG Chong,WANG Gang,et al. Fusion positioning method of underground mine personnel[J]. Industry and Mine Automation,2020,46(1):59-64.
[13]	吴静然,崔冉,赵志凯,等. 矿井人员融合定位系统[J]. 工矿自动化,2018,44(4):74-79. WU Jingran,CUI Ran,ZHAO Zhikai,et al. Mine personnel fusion location system[J]. Industry and Mine Automation,2018,44(4):74-79.
[14]	赵子凡,张艺蒙,彭霄,等. 基于UWB/INS组合的室内高精度移动定位算法研究[J]. 导航定位学报,2022,10(5):74-80. DOI: 10.3969/j.issn.2095-4999.2022.05.011 ZHAO Zifan,ZHANG Yimeng,PENG Xiao,et al. Indoor high-precision mobile positioning algorithm design based on the Integration of UWB/INS[J]. Journal of Navigation and Positioning,2022,10(5):74-80. DOI: 10.3969/j.issn.2095-4999.2022.05.011
[15]	YUAN Debao,ZHANG Jian,WANG Jian,et al. Robustly adaptive EKF PDR/UWB integrated navigation based on additional heading constraint[J]. Sensors,2021,21(13). DOI: 10.3390/s21134390.
[16]	ANGRISANO A,VULTAGGIO M,GAGLIONE S,et al. Pedestrian localization with PDR supplemented by GNSS[C]. European Navigation Conference,Warsaw,2019:1-6.
[17]	刘送永,崔玉明. 煤矿井下定位导航技术研究进展[J]. 矿业研究与开发,2019,39(7):114-120. LIU Songyong,CUI Yuming. Research progress of positioning and navigation technology in underground coal mine[J]. Mining Research and Development,2019,39(7):114-120.
[18]	吴益凡,刘帅,刘婷月. 基于UWB的室内运动定位算法研究[J]. 电脑编程技巧与维护,2024(4):151-153. DOI: 10.3969/j.issn.1006-4052.2024.04.046 WU Yifan,LIU Shuai,LIU Tingyue. Research on indoor motion location algorithm based on UWB[J]. Computer Programming Skills & Maintenance,2024(4):151-153. DOI: 10.3969/j.issn.1006-4052.2024.04.046
[19]	黎昱杰,黎蕾蕾,卜继军,等. 基于UWB/PDR的无基础设施行人协同导航研究[J]. 压电与声光,2023,45(5):736-739. LI Yujie,LI Leilei,BU Jijun,et al. Research on non-infrastructure pedestrian cooperative navigation based on UWB/PDR combination[J]. Piezoelectrics & Acoustooptics,2023,45(5):736-739.
[20]	李景文,韦晶闪,周俊芬,等. 融合UWB+PDR的室内定位方法改进[J]. 测绘通报,2022(3):36-40. DOI: 10.3969/j.issn.0494-0911.2022.3.chtb202203008 LI Jingwen,WEI Jingshan,ZHOU Junfen,et al. Improvement of indoor positioning method combining UWB and PDR[J]. Bulletin of Surveying and Mapping,2022(3):36-40. DOI: 10.3969/j.issn.0494-0911.2022.3.chtb202203008
[21]	杨国华. 基于无线传感网络与UWB技术的煤矿井下采掘人员定位方法[J]. 煤矿现代化,2024,33(2):41-44,50. DOI: 10.3969/j.issn.1009-0797.2024.02.010 YANG Guohua. A method for locating mining personnel in coal mines based on wireless sensor networks and UWB technology[J]. Coal Mine Modernization,2024,33(2):41-44,50. DOI: 10.3969/j.issn.1009-0797.2024.02.010
[22]	方贤宝,林勇,苏羿安,等. 基于TOF和自适应抗差卡尔曼滤波的UWB室内定位算法[J]. 传感器与微系统,2024,43(3):134-138. FANG Xianbao,LIN Yong,SU Yi'an,et al. UWB indoor positioning algorithm based on TOF and adaptive robust KF[J]. Transducer and Microsystem Technologies,2024,43(3):134-138.
[23]	SI Lei,WANG Zhongbin,WEI Dong,et al. Fusion positioning of mobile equipment in underground coal mine based on redundant IMUs and UWB[J]. IEEE Transactions on Industrial Informatics,2024,20(4):5946-5958. DOI: 10.1109/TII.2023.3342427
[24]	李金昆,修春娣,杨东凯. 基于UWB/PDR/地磁的地下空间多源融合定位方法[C]. 第十六届全国信号和智能信息处理与应用学术会议,2022:182-187. LI Jinkun,XIU Chundi,YANG Dongkai. Multi-Source fusion location method for underground space based on UWB/ PDR/Geomagnetic[C]. The 14th National Academic Conference on Signal and Intelligent Information Processing and Application,2022:182-187.
[25]	刘宇,谢宇,彭慧,等. 基于UWB/PDR的航向发散自适应修正算法研究[J]. 电子测量技术,2022,45(3):98-103. LIU Yu,XIE Yu,PENG Hui,et al. Research on adaptive correction algorithm of heading divergence based on UWB/PDR[J]. Electronic Measurement Technology,2022,45(3):98-103.

[1]	ZHANG Xuhui, MA Bing, YANG Wenjuan, DONG Zheng, LI Yuyang. Research on denoising of uneven lighting images in coal mine underground[J]. Journal of Mine Automation, 2024, 50(2): 1-8. DOI: 10.13272/j.issn.1671-251x.2023110090
[2]	DOU Xueli, NIU Yonggang, YIN Peng, LI Jingsheng, LUAN Liangliang, LAN Xiang. Measurement and analysis of underground ultra wide band signal path loss[J]. Journal of Mine Automation, 2020, 46(10): 99-103. DOI: 10.13272/j.issn.1671 -251x.17667
[3]	WANG Wei. Underground precise positioning algorithm based on Kalman filter and weighted LM algorithm[J]. Journal of Mine Automation, 2019, 45(11): 5-9. DOI: 10.13272/j.issn.1671-251x.17500
[4]	ZHANG Shen, ZHANG Zhen. Design of underground voice transmission system by visible light[J]. Journal of Mine Automation, 2016, 42(8): 17-20. DOI: 10.13272/j.issn.1671-251x.2016.08.005
[5]	LIU Shulun, WANG Shuse. Underground personnel positioning system based on ultra wideband technology[J]. Journal of Mine Automation, 2014, 40(10): 81-83. DOI: 10.13272/j.issn.1671-251x.2014.10.022
[6]	DENG Jianzhi, CHENG Xiaohui. Transceiver of underground location system based on visible light color division duplex[J]. Journal of Mine Automation, 2014, 40(7): 1-4. DOI: 10.13272/j.issn.1671-251x.2014.07.001
[7]	CHEN Yan, LIU Zhiqiang. Design of underground lighting pre-warning system[J]. Journal of Mine Automation, 2014, 40(6): 18-20. DOI: 10.13272/j.issn.1671-251x.2014.06.005
[8]	SHANG Changchun, MA Hongwei, CHEN Yanbing. Image preprocessing method for underground variable lighting conditions[J]. Journal of Mine Automation, 2014, 40(3): 79-82. DOI: 10.13272/j.issn.1671-251x.2014.03.021
[9]	GAO Yun-guang. Design of Underground Lighting Protection System Based on PLC[J]. Journal of Mine Automation, 2010, 36(3): 25-28.
[10]	CHEN Li-la. Study on Full-function Traffic Light Based on EDA[J]. Journal of Mine Automation, 2000, 26(4): 20-21.

Cited By

Cited by

Periodical cited type(16)

1.	付京. 煤矿安全监控多系统融合技术探究. 现代工业经济和信息化. 2023(01): 76-77+131 .
2.	荆诚，朱沙沙. 煤矿井下移动端应用融合框架的设计和应用. 煤炭技术. 2023(07): 184-186 .
3.	郭明明. 基于无线传感器网格的煤矿安全自动监控系统. 自动化与仪器仪表. 2022(02): 228-231 .
4.	刘鸿燕，裴灵. 基于GPRS的地质钻探多参量融合监控系统设计. 自动化技术与应用. 2022(05): 75-79 .
5.	罗辉，王晓南，栗浩. 一种基于深度视觉的井下充填智能监控方法. 电脑编程技巧与维护. 2022(10): 131-133 .
6.	贺耀宜，高文，杨耀，荆诚，朱沙沙，陈醒. 智能矿山多元监控信息融合与联动研究. 工矿自动化. 2022(11): 11-19 . 本站查看
7.	何云文，任文华. 井下多系统融合及应急联动的安全监控系统方案设计. 煤炭技术. 2021(01): 180-182 .
8.	张明，何云文，付蓉. 井下融合及多系统联动技术在黄白茨煤矿应用与实践. 煤炭技术. 2021(02): 169-172 .
9.	申乾. 红柳林煤矿安全监控系统升级改造及应用. 内蒙古煤炭经济. 2021(04): 79-81 .
10.	胡宏泽，杜志刚，储楠，罗克. 基于智慧矿山平台的人员定位系统关键技术. 煤矿安全. 2021(11): 134-138 .
11.	郭泰，颜铤. 基于物联网技术的矿井安全动态信息监测系统研究. 能源与环保. 2021(12): 228-233+239 .
12.	李苗，邓玲霞，张丽丽. 多系统融合的煤矿安全生产智能监控与诊断系统的研究与应用. 河南科技. 2021(26): 74-76 .
13.	郑学召，郭行，郭军，王宝元. 矿井广播系统及其在煤矿应急通信中的应用探讨. 工矿自动化. 2020(01): 32-37 . 本站查看
14.	尹延华，杨林，付梅. 工业大数据技术助力煤矿安全生产管控初探. 煤炭加工与综合利用. 2019(06): 122-125+128 .
15.	陈汉章，汪洋. 基于GIS的煤矿安全监控系统应急联动子系统的设计与实现. 矿业研究与开发. 2019(07): 121-125 .
16.	贺耀宜，王海波. 基于物联网的可融合性煤矿监控系统研究. 工矿自动化. 2019(08): 13-18 . 本站查看

Other cited types(7)

Get Citation

PDF

XML

Article Metrics

Article views (153) PDF downloads (22) Cited by(23)

A fusion positioning method for underground personnel based on UWB and PDR