基于UWB的PDOA与TOF煤矿井下联合定位方法

郭爱军

doi:10.13272/j.issn.1671-251x.18078

基于UWB的PDOA与TOF煤矿井下联合定位方法

doi: 10.13272/j.issn.1671-251x.18078

郭爱军

国能神东煤炭技术研究院, 陕西榆林　719315

基金项目: 国家能源集团科技创新项目（GJNY2030XDXM-19-06.1）；国家重点研发计划项目（2017YFC0804303）。

详细信息

作者简介:
郭爱军（1970—），男，内蒙古包头人，教授级高级工程师，现主要从事矿井精确定位方面的工作，E-mail：wlmlgaj@163.com

中图分类号: TD655
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出版历程
- 收稿日期: 2023-02-13
- 修回日期: 2023-03-17
- 网络出版日期: 2023-03-27

A joint positioning method of PDOA and TOF in coal mines based on UWB

GUO Aijun

CHN Energy Shendong Coal Technology Research Institute, Yulin 719315, China

摘要

摘要: 煤矿井下人员和车辆精确定位是煤矿安全高效生产的重要保障。目前矿井人员和车辆精确定位主要采用超宽带（UWB）无线通信技术，其中仅采用飞行时间（TOF）的定位方法需2个定位分站或天线联合测距和定向，存在天线间距大、不便于安装维护、定位误差大等问题。针对上述问题，提出了应用于煤矿巷道一维定位场景的基于UWB的到达相位差（PDOA）与TOF煤矿井下联合定位方法。该方法通过TOF测量定位卡与定位分站之间的距离，通过PDOA判断定位卡的方位，再根据测得的定位卡与定位分站之间的距离和方位，对定位卡进行定位。该方法根据从定位卡发送的无线电信号到达定位分站的2根天线的相位差判断定位卡的到达角度（AOA），不需要很大的天线间距即可确定定位卡的方位，缩短了定位分站的2根天线之间的距离，可将2根天线一体化，便于安装维护，提高了定位精度。煤矿井下测试结果表明，该方法定位精度在15 cm以内；在200 m测试距离范围内，定位精度不受距离远近影响；TOF测距数值稳定在相对其均值±10 cm的范围内，具有很好的稳定性。
- 井下联合定位 /
- 人员定位 /
- 车辆定位 /
- UWB /
- 到达相位差 /
- 飞行时间 /
- PDOA /
- TOF
Abstract: The precise positioning of personnel and vehicles in coal mines is an important guarantee for safe and efficient production in coal mines. Currently, ultra-wideband (UWB) wireless communication technology is mainly used for the precise positioning of personnel and vehicles in coal mines. The positioning method that only uses the time of flight (TOF) requires two positioning substations or antennas for joint ranging and direction. It has problems such as large antenna spacing, inconvenience in installation and maintenance, and large positioning errors. In order to solve the above problems, a joint positioning method based on UWB phase difference of arrival (PDOA) and TOF is proposed for one-dimensional positioning scenarios in coal mines. This method measures the distance between the positioning card and the positioning substation through TOF, and judges the direction of the positioning card through PDOA. The method locates the positioning card based on the measured distance and direction between the positioning card and the positioning substation. This method determines the angle of arrival (AOA) of the positioning card based on the phase difference between the radio signals transmitted from the positioning card and the two antennas of the positioning substation. It does not require a large antenna spacing to determine the direction of the positioning card. It shortens the distance between the two antennas of the positioning substation. It integrates the two antennas to facilitate installation and maintenance, improving positioning precision. The underground testing results of coal mines show that the positioning precision of this method is within 15 cm. Within the test distance range of 200 m, the positioning precision is not affected by the distance. The TOF ranging value is stable within a range of ± 10 cm relative to its mean value, with good stability.
- underground joint positioning /
- personnel positioning /
- vehicle positioning /
- UWB /
- phase difference of arrival /
- time of flight /
- PDOA /
- TOF

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图 1 TOF测距原理

Figure 1. TOF ranging principle

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图 2 定位分站定向原理

Figure 2. Directional principle of positioning substation

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图 3 基于PDOA的AOA估计原理

Figure 3. Principle of AOA estimation based on PDOA

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图 4 棒状天线与平面天线对比

Figure 4. Comparison of rod antenna and plane antenna

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图 5 巷道断面

Figure 5. Roadway section

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图 6 PDOA方向测试和TOF精度测试布置

Figure 6. Layout of PDOA directional test and TOF precision test

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图 7 PDOA方向测试结果

Figure 7. PDOA directional test results

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图 8 误差随距离变化曲线

Figure 8. Curve of error with distance

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图 9 离差统计

Figure 9. Deviation statistics

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图 10 离差累计概率曲线

Figure 10. Cumulative probability curve of deviation

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表 1 TOF精度测试数据

Table 1. TOF precision test data

真实距离/m	测量均值/m	绝对误差/m	相对误差/%
1.938	1.895	0.043	2.22
2.922	2.855	0.067	2.29
4.779	4.829	0.050	1.05
8.186	8.206	0.020	0.24
10.984	10.874	0.110	1.00
15.338	15.198	0.140	0.91
20.726	20.616	0.110	0.53
25.446	25.541	0.095	0.37
30.921	30.952	0.031	0.10
40.767	40.696	0.071	0.17
61.731	61.627	0.104	0.17
82.217	82.229	0.012	0.01
100.479	100.398	0.081	0.08
122.302	122.376	0.074	0.06
139.672	139.557	0.115	0.08
159.092	158.951	0.141	0.09
177.285	177.398	0.113	0.06
198.489	198.350	0.139	0.07

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