Positioning Approach for Long-distance Underground Tunnels
The unmanned equipment operates in an environment devoid of satellite positioning signals and characterized by weak lighting,as it navigates through long-distance underground passages,including subway and coal mine tunnels.Conventional methods of obtaining positioning coordinates are challenging due to their high cost and significant error.A cost-effective positio-ning approach that is well-suited for long-distance underground tunnels was presented based on the positioning unit(PU)which is constituted by several UWB(ultra wide band)moules.Specifically,a cost-effective positioning topology configuration and an ini-tial positioning method for the unmanned equipment were proposed,which can commence from any position within the positioning topology.Aditionally,a dynamic method for switching coefficients was proposed to facilitate the switching of the positioning unit within the overlap region of the positioning signal range.The physical experiments demonstrate that the toological arrangement of positioning elements in a standard rectangle exhibits superior accuracy in positioning compared to that of a right triangle,partial π forms and other shapes.The configuration of the positioning unit with intermittent layout along the long-distance underground pas-sage demonstrates higher cost-effectiveness than that of the continuous layout positioning base station.The design requirements for positioning error δ≤±25 cm can be met at any position within the underground long-distance passages.In a 5 km underground passage,the binary tree traversal search method typically requires an average of about 16 seconds to obtain initial positioning.The dynamic switching coefficient method is utilized in the overlap region of the positioning signal range,which results in no signifi-cant mutations to the positioning data.The positioning method introduced can be applied in unmanned equipment to independently execute tasks within long-distance underground tunnels.
unmanned equipmentlong-distance underground passagesoverlap region of positioning signal rangepositioning topology configuration
NETL
NSTL
万方数据
