计算机工程 ›› 2012, Vol. 38 ›› Issue (17): 265-267,275.doi: 10.3969/j.issn.1000-3428.2012.17.071

• 工程应用技术与实现 • 上一篇    下一篇

矿井组合导航系统算法研究

黄辉先,肖业伟,王 晖   

  1. (湘潭大学信息工程学院控制工程研究所,湖南 湘潭 411105)
  • 收稿日期:2011-10-11 修回日期:2012-01-06 出版日期:2012-09-05 发布日期:2012-09-03
  • 作者简介:黄辉先(1955-),男,教授、博士生导师,主研方向:先进控制理论;肖业伟,副教授;王 晖,硕士研究生
  • 基金项目:
    湖南省自然科学基金委员会与湘潭市政府自然科学联合基金资助项目(10JJ9008);湖南省教育厅基金资助项目(10C1266);湖南省科技计划基金资助项目(2011FJ3183)

Research on Algorithm of Integrated Navigation System in Mine

HUANG Hui-xian, XIAO Ye-wei, WANG Hui   

  1. (Institute of Control Engineering, College of Information Engineering, Xiangtan University, Xiangtan 411105, China)
  • Received:2011-10-11 Revised:2012-01-06 Online:2012-09-05 Published:2012-09-03

摘要: 针对矿井环境下人员定位精度差的问题,提出一种基于射频位置修正技术的新型矿井组合导航系统。将捷联式惯性导航系统 (SINS)与矿井射频定位进行互补融合,将射频标签存储的实际位置和SINS解算位置的差值作为量测量,利用扩展Kalman滤波器估计并补偿SINS存在的陀螺漂移和加速度计零偏。仿真结果表明,在复杂度相近的情况下,该系统在30 min内的综合定位精度比SINS提高近 4倍。

关键词: 组合导航, 扩展卡尔曼滤波, 无迹卡尔曼滤波, 捷联式惯性导航系统, 射频识别, 射频标签

Abstract: According to the poor accuracy of the personnel positioning in mine environment, a mine integrated navigation system based on Radio Frequency Identification(RFID) position correction technology is presented. The difference of the Strapdown Inertial Navigation System(SINS) solver location and the actual location stored in RFID tags is selected as the system observation. At the same time, Kalman filter is used to estimate and compensate the gyro drifts and accelerometer biases existed in SINS. Simulation results indicate that the comprehensive precision of new methods is increased by nearly four times than SINS in 30 min.

Key words: integrated navigation, Extended Kalman Filter(EKF), Unscented Kalman Filter(UKF), Strapdown Inertial Navigation System(SINS), Radio Frequency Identification(RFID), radio frequency tag

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