煤矿井下UWB定位数据跳变抑制研究

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中图分类号：TD655.3 文献标志码：A

Abstract：Precise positioning service is a fundamental support for intelligent coal mines.At present，most coal mines are equipped with Ultra-Wideband （UWB）-based precision positioning systems. Underground UWB positioning data jumps are a major factor affecting positioning reliability and accuracy.Existing solutions mainly suppress data jumps by adding auxiliary measurement methods，adjusting hardware，or applying continuous data filtering based on multiple measurements.These methods are diffcult to implement，costly，and cannot identify data jumps when positioning tags move across diferent positioning areas.Taking the commonly used DoubleSided Two-Way Ranging （DS-TWR） method based on Time ofFlight （TOF） in underground UWB positioning systems as the research object， this study proposed a ToF4-WR communication positioning method.On the basis of the traditional 3-way ranging （3-WR） protocol，a measurement verification frame "Check" was added to address the issue that interference in the Response frame communication processof the traditional TOF3-WR method could not be identified due to the lack of a reference. On this basis，a UWB signal jump identification method integrating multiple-interference verification mechanisms was proposed to identify data jumps in a single positioning process.For extreme cases involving continuous interference or drastic changes in the motion state of the positioning target，an anomaly detection mechanism based on multiple consecutive positioning results was introduced to further verify the reliabilityof positioning data.For the identified data jumps，the Kalman filter optimal estimation value was used to replace the identified data，achieving UWB positioning data jump suppression.Field testsconducted at Jinfeng Coal Mine showed that this method effctively identified underground UWB positioning jump signals， and the Kalman filter optimal estimation value accurately tracked the actual positioning trajectory， ensuring the accuracy and continuity of positioning data.

Key words： underground personnel positioning; precise positioning service; UWB positioning; DoubleSided Two-Way Ranging; TOF 4-WR communication positioning; UWB signal jump identification; positioning result anomaly detection; Kalman filter optimal estimation

0引言

井下人员位置监测系统是矿山安全避险“六大系统”之一，在煤矿安全风险防控、生产效能提升和事故应急救援中发挥着重要作用[1-2]。（剩余12740字）