本文關(guān)鍵詞： 機(jī)車定位 TDOA RSSI 加權(quán)最小二乘法 泰勒級數(shù)最小二乘法　出處：《安徽理工大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：礦井運(yùn)輸是煤礦安全生產(chǎn)的重要組成部分,而礦井機(jī)車是煤礦運(yùn)輸?shù)闹匾ぞ?實(shí)現(xiàn)礦井機(jī)車的精確定位能夠有效合理的調(diào)度機(jī)車,減少礦井運(yùn)輸?shù)陌踩鹿?提高礦井運(yùn)輸效率。因此,本文對礦山井下機(jī)車精確定位技術(shù)開展了研究。 論文介紹了國內(nèi)外現(xiàn)有的礦井定位技術(shù),分析研究其存在的不足和值得改進(jìn)的方面；提出了基于TDOA(Time Different of Arrival)的機(jī)車定位技術(shù)和基于RSSI(Received Signal Strength Indication)的機(jī)車定位技術(shù)。其取得主要研究成果如下： 1)采用超聲波和無線電波的傳播時間差實(shí)現(xiàn)距離的測量。由于機(jī)車在定位過程中是運(yùn)動的,而且超聲波的傳播速度較慢,會產(chǎn)生機(jī)車位移誤差；把位移誤差轉(zhuǎn)換為機(jī)車到信標(biāo)節(jié)點(diǎn)的距離誤差,通過分析計算得出誤差補(bǔ)償后的距離。使用加權(quán)最小二乘法估計出機(jī)車的初始位置,再使用泰勒級數(shù)最小二乘法進(jìn)行修正。 2)采用無線信號的接收強(qiáng)度實(shí)現(xiàn)測距。由于礦井的環(huán)境惡劣,無線信號在傳播過程中信號不穩(wěn)定,誤差較大；采用高斯模型和加權(quán)模型結(jié)合的方法獲得較為穩(wěn)定的RSSI值；然后換算成距離,再使用加權(quán)最小二乘法估計出機(jī)車的初始位置。僅僅使用加權(quán)最小二乘法并不能有效的減小一些不確定因素的影響,通過信標(biāo)節(jié)點(diǎn)間采用上述方法得出估計位置,并計算出與其實(shí)際位置的誤差,并給于該誤差相應(yīng)的權(quán)值,距離越大權(quán)值越小。最后初始位置和誤差修正值的和為最終位置。3)通過MATLAB實(shí)驗(yàn)仿真,得出改進(jìn)后的礦山井下機(jī)車定位技術(shù)相比傳統(tǒng)的定位技術(shù)具有較高的定位精度,符合現(xiàn)階段礦山井下運(yùn)輸?shù)男枨�。在建立的�?shí)驗(yàn)測試平臺上對定位技術(shù)進(jìn)行了測試,測試結(jié)果表明,本文提出的定位技術(shù)符合礦井生產(chǎn)的需求。
[Abstract]:Mine transportation is an important part of coal mine safety production, and mine locomotive is an important tool of coal mine transportation. The accurate positioning of mine locomotive can effectively and reasonably dispatch locomotive and reduce the safety accident of mine transportation. Therefore, the precise positioning technology of mine locomotive is studied in this paper. This paper introduces the existing mine positioning technology at home and abroad, analyzes and studies its shortcomings and aspects worthy of improvement. The locomotive positioning technology based on TDOA(Time Different of Arrivaland and the locomotive positioning technology based on RSSI(Received Signal Strength indication are put forward. The main research results are as follows:. 1) using the time difference between ultrasonic wave and radio wave to measure the distance. Because the locomotive is moving in the positioning process, and the speed of ultrasonic wave propagation is slow, the displacement error of the locomotive will be produced. The displacement error is converted into the distance error from locomotive to beacon node, and the distance compensated by error is obtained through analysis and calculation. The initial position of locomotive is estimated by weighted least square method, and then modified by Taylor series least square method. 2) using the receiving intensity of wireless signal to realize ranging. Because of the bad environment of mine, the wireless signal is unstable in the process of propagation, the error is large, the RSSI value is relatively stable by the combination of Gao Si model and weighted model; Then the distance is converted and the initial position of the locomotive is estimated by using the weighted least square method. Using the weighted least square method alone can not effectively reduce the influence of some uncertain factors. The estimated position is obtained by using the above method between the beacon nodes, and the error corresponding to the actual position is calculated, and the weights corresponding to the error are given. Finally, the sum of initial position and error correction value is the final position. 3) through MATLAB experiment simulation, it is concluded that the improved mine mine locomotive positioning technology has higher positioning accuracy than the traditional positioning technology. In accordance with the requirement of underground transportation in mines at present, the positioning technology is tested on the established experimental test platform. The test results show that the positioning technology proposed in this paper is in line with the requirements of mine production.
【學(xué)位授予單位】：安徽理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TD524.3

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