面向矿井动目标跟踪的新型惯性协同测量理论与方法研究

Taking coal mining automation as the research background, and aiming at high precision tracking of mine equipment and personnel, a dynamic positioning method based on inertial navigation system in collaboration with ultra wide band is proposed. The main contents include: (1) Analyzing dynamic characteristics and kinematics laws of mine moving target based on nonlinear dynamics theory and dynamic programming theory. Then, inertial navigation equation and topological structure of ultra wide band wireless sensor networks are built respectively. (2) Interactive mechanism between the two systems is researched by establishing the mapping relation between inertial parameters of moving target. Then, applying sparse sampling theory and Newton iterative transformation method to transforming positioning information acquired from inertial navigation system and ultra wide band into synchronous time scale and uniform coordinate system, and the tight coupling model is built. (3) On the basis of inertial navigation attitude algorithm, combining local strong signal set of ultra wide band, dynamic location and pose of mine moving target are achieved by comprehensive data fusion strategy using interacting multiple model Kalman filter. This project focuses on the applied basic research, and the research achievement will provide theoretical and experimental basis for personnel tracking and collaborative automation of mining fleet, and provide reference for moving target positioning in similar closed environment.

本项目以煤炭开采自动化为研究背景，以实现井下设备及人员高精度定位跟踪为目标，开展惯性导航与超宽带无线协同下定位定姿理论与方法研究。主要内容包括：(1)利用非线性动力学理论与动态规划方法对矿井环境下移动目标动力学特性及运动学规律进行研究，从而确定惯性导航系统方程及超宽带无线传感器网络拓扑结构；(2)建立移动目标惯性参量与超宽带无线定位信号特征的映射关系，研究系统间交互机制，同时根据稀疏采样理论与牛顿迭代变换法，完成两种定位体系下信息同步及坐标统一，从而构建惯性导航与超宽带无线紧耦合模型；(3)通过惯性导航姿态解算，结合超宽带无线节点间局域强信号集，采用基于交互多模型卡尔曼滤波的综合数据融合策略，完成矿井动目标高精度位姿输出。本项目属于应用基础研究，研究成果可为实现井下人员跟踪和采矿机群联动控制、提升煤炭开采自动化水平奠定理论与实验基础，同时也为此类封闭环境下移动目标空间定位研究提供借鉴。

针对封闭空间内移动装备和人员的高精度定位需求，进行惯性导航和超宽带无线紧耦合定位方法与系统研究。主要研究内容为：1）采用动力学理论和运动学理论分析封闭空间内移动式装备和人员运动特性，从而构建空间数据系统，并确定惯性导航系统方程及超宽带无线传感器网络最优拓扑结构；2）研究组合系统间加速度、速度、姿态等惯性参量交互规律，结合异构数据坐标统一变换策略，构建惯性导航/超宽带无线组合系统紧耦合模型；3）根据紧耦合模型，研究多参数误差传递过程，结合构建的组合系统状态方程，采用双模自适应卡尔曼滤波器，实现组合定位系统数据快速融合与定位估计；4）为验证组合定位系统的性能，搭建高精度室内组合定位实验平台，实验结果表明：INS/UWB紧耦合定位系统定位精度优于0.24m，能够实现移动式装备、人员实时高精度跟踪定位。该研究成果可在室内导航与位置服务等领域进行示范推广。