煤矿综采工作面超宽带信号传播特性与移动设备精确定位方法研究

Accurate positioning and information interaction of fully mechanized coal mining equipment is the technical basis of multi-machine coordination of intelligent coal mining in coal mine. However, due to the complicated propagation mechanism of the wireless signal is, and the serious fading of channels in the fully mechanized coal mining face, the errors of positioning parameters are always large, such as time differences of the receiving signals, and the angle of the receiving signals. Thus, accurate positioning is quite difficult for the fully-mechanized coal working face. This project focuses on the electromagnetic compatibility and ultra-wideband propagation characteristics in the fully-mechanized coal working face, and improving the positioning accuracy of equipment based on chipless ultra-wideband (UWB) radio frequency identification (RFID) technique. Specifically, our project includes three parts: 1) Study on electromagnetic compatibility of fully mechanized coal mining face, which provides the basis for choosing the working frequency band for UWB communication and positioning systems. 2) Through the theoretical analysis and experimental measurement, we will reveal the propagation characteristics of UWB electromagnetic signals in the mining process of fully mechanized coal mining face, establish the wireless channel model of the fully mechanized mining face, and develop a software for channel simulations. 3) Propose an accurate positioning method based on the chipless UWB RFID for the fully mechanized mining face, which will solve the open problems, such as limited transmission distance of UWB signal, the enhancement of the weak UWB signal, the accurate positioning of the TDOA/AOA precise measurement and the limited number of real-time identification tags. The proposed accurate positioning method will provide real-time, accurate positioning information for applications such as unmanned coordination, collision avoidance, etc. for coal miners and hydraulic supports. The results of this project can enrich and perfect the basic theory and precise positioning method of wireless communication in special environment of coal mine.

煤矿井下综采设备的精确定位和信息交互是智能化采煤多机协同的技术基础，但是由于无线信号在综采工作面封闭时变复杂环境的传播机理复杂、衰落严重，导致接收信号到达时间差和到达角等定位参数测量误差大，精确定位困难。项目从综采面电磁兼容、超宽带传播特性和基于无芯超宽带的精确定位方法等方面开展研究：1）研究综采面的电磁兼容性，为超宽带通信及定位系统工作频段选择提供依据。2）通过理论分析和实验测量研究，揭示综采面采动过程中超宽带电磁信号的传播特性，建立综采面无线信道模型，并开发信道模拟软件。3）研究无芯超宽带信号传输距离受限、超宽带微弱信号增强、存在测量误差时的TDOA/AOA精确定位、实时识别标签数目受限等关键问题的解决措施，提出无芯超宽带精确定位新方法，为采煤机和液压支架等的无人协同联动控制、碰撞避免等应用提供实时、精确的位置信息。本项目成果可丰富完善煤矿井下特殊环境无线通信基础理论和精确定位方法。

项目针对无线信号在综采工作面封闭时变复杂环境的传播机理复杂、衰落严重，导致精确定位困难等挑战，从综采面电磁兼容、超宽带传播特性与信道建模和多参数融合的UWB超宽带精确定位方法等方面开展研究。.1）完成了综采工作面超宽带电磁兼容研究。通过文献研究获得综采面可能存在的常态和非常态电磁信号基本组成及分布；利用矢量信号发生器和矢量信号分析仪等搭建井下电磁辐射、超宽带信号传播特性实验测量分析系统，对综采面采动过程电磁干扰进行实际测量分析，获得其频谱分布规律特性。为综采工作面超宽带通信及定位系统频段选择和后续研究提供依据。.2）基于实验测试数据，实验测量和理论研究结合，研究揭示了煤矿井下巷道、综采面采动过程中采煤机运行、煤尘浓度和水雾等场景UWB超宽带无线电信号传播特性，并进行了视距和非视距场景中路径损耗指数和阴影衰落因子等特征参数提取和信道建模。.3）基于综采工作面超宽带无线电传播特性和可能存在的干扰，针对不同场景提出设计了基于超宽带与多因素协同融合的通信和精确定位新方法。研究定位锚点（UWB基站）和标签布置优化策略，基于多天线波束成形优化设计和抗干扰接收机的微弱信号检测与增强方法，为解决无芯超宽带反射的微弱信号接收增强、提高通信距离和质量提供支持；提出基于信号到达时间差TDOA、到达角AOA以及多参数融合的多种超宽带联合定位新方法，改善定位效果。实验测试和仿真验证了新方法可以有效提升井下巷道、综采面等特殊室内环境的定位精度，为井下和综采面位置服务提供支持。.本项目成果发表学术研究论文18篇，申请发明专利6件。研究成果丰富完善了煤矿井下特殊环境无线通信基础理论和精确定位方法，并可为矿山、隧道、城市地下空间等特殊场景的无线通信、定位研究提供参考。