A Geometric Positioning Method of Mine TOA based on Improved Kalman Filter and Parameter Fitting

Abstract

As a large number of equipment existed in the mine roadway, non-line of sight (NLOS) delay of electromagnetic wave propagation will have an adverse impact on the positioning accuracy of time of arrival (TOA) of the mine, which cannot meet the problems of underground emergency rescue, personnel operation management and the construction of mine Internet of things. According to the formation of NLOS, the propagation delay of electromagnetic wave NLOS in roadway is divided into random NLOS delay and fixed NLOS delay. Combined with the characteristics of ranging error caused by the two types of NLOS delay, a geometric positioning method of mine TOA based on improved kalman filter and parameter fitting is proposed. Firstly, the symmetrical double-sided two way ranging (SDS-TWR) is adopted to eliminate the influence of synchronization delay and timing error on TOA positioning accuracy. Then the improved kalman filter algorithm is used to filter the random NLOS delay error of roadway. Finally, parameter fitting and projection geometry algorithm are used to improve the positioning accuracy of the system. The simulation results show that the proposed method has a significant inhibiting effect on TOA positioning error and can realize the effective application of TOA method in NLOS environment of mine.