A fusion positioning method for underground personnel based on UWB and PDR

• Published in: Gong kuang zi dong hua = Industry and mine automation Vol. 50; no. 6; pp. 96 - 102, 135
• Main Authors: JIA Yutao, LI Guanhua, PAN Hongguang, CHEN Haijian, WEI Xuqiang, BAI Junming
• Format: Journal Article
• Language: Chinese
• Published: Editorial Department of Industry and Mine Automation 01.06.2024
• Subjects: cnn-lstm; fusion positioning; least squares method; los; nlos; non line of sight environment; pdestrian dead reckoning; pdr; polynomial fitting; underground personnel positioning; uwb
• ISSN: 1671-251X
• DOI: 10.13272/j.issn.1671-251x.2024010071

Most existing fusion positioning methods for ultra-wideband (UWB) and pedestrian dead reckoning (PDR) ignore the correction of positioning errors in non line of sight (NLOS) environments. The methods use simple threshold division as the basis for NLOS environment judgment, which is largely related to the positioning scene and site size. In order to solve the above problems, a fusion positioning method for underground personnel considering NLOS environment is proposed. Firstly, UWB technology is used to calculate the position of underground personnel. After obtaining the preliminary position of personnel through the trilateral positioning algorithm, the least squares method is used to optimize the position. Polynomial fitting is used to achieve the fitting between the actual value and the measured value between the base station and the tag in the NLOS environment, reducing the ranging error in the NLOS environment and improving the positioning precision. Secondly, the PDR algorithm is used for gait recognition