Autonomous Underground Combination Positioning Method Based on Baseline-RFMDR
Underground personnel positioning is a guarantee for safe production and a key technology for intelligent mine.MEMS(Micro-Electro-Mechanical System)-based combined positioning represents a research focus for autonomous posi-tioning in intelligent mines.At present,microelectromechanical system(MEMS)-based combined positioning technology is a research area of significant interest with regard to autonomous positioning in intelligent mines.However,due to the susceptibili-ty of MEMS measurement signals to interference,there is a notable challenge associated with achieving optimal autonomous po-sitioning accuracy.To address the issues of low accuracy and poor stability of low-cost autonomous underground positioning,a combined Baseline-RFMDR-based underground positioning method is proposed.The method combines geomagnetically matched positioning with Pedestrian Dead Reckoning(PDR)positioning and constructs a mathematical model for Baseline-RFMDR Kalman filtering solution using a short baseline of"tag pairs"deployed in the roadway as constraints.The simulated tunnel of the national mine emergency rescue was selected as the test site for the deployment of the self-developed low-cost MEMS inte-grated autonomous positioning device,which was used to conduct personnel dynamic positioning tests and to assess the Base-line-RFMDR positioning accuracy and reliability.The test results indicated that the low-cost Baseline-RFMDR autonomous po-sitioning device is capable of effectively and continuously collecting geomagnetic data,pedestrian attitude data,and walking da-ta.Furthermore,the technical architecture is stable.In the context of continuous pedestrian movement,the accuracy of PDR po-sitioning is high in the prior period.However,the error accumulation increases with the growth of pedestrian walking length.The geomagnetic matching will not be accumulated with the growth of walking length.Nevertheless,the accuracy is low,and most of the matching error is approximately 2 m.The Baseline-RFMDR method demonstrates superior positioning accuracy compared to PDR and geomagnetic matching positioning.The coordinate error is maintained within 1 m in the forward direction of the per-sonnel tunnel.This approach offers a novel solution for low cost and high precison underground autonomous positioning.
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