• 论文
主办单位:煤炭科学研究总院有限公司、中国煤炭学会学术期刊工作委员会
基于GRPM井下定位的MPMD匹配算法的试验研究
  • Title

    Experimental research of MPMD matching algorithm based on the GRPM underground positioning

  • 作者

    汪金花郭云飞郭立稳张博吴兵

  • Author

    WANG Jinhua,GUO Yunfei,GUO Liwen,ZHANG Bo,WU Bing

  • 单位

    华北理工大学

  • Organization
    College of Mining Engineering,North China University of Science and Technology,Tangshan  063210,China
  • 摘要

    针对井下生产管理、灾后避险以及定点搜救的高精度定位需求,提出一种标签识别与地磁匹配组合定位的GRPM方法。GRPM方法是从井下物联网的智能化角度,设计的一种高精度、自主、新型的井下定位方法。结合井下实际地磁测量时噪声干扰较大,地磁异常场空间分布不明显、缓变或特征相似情况下的地磁匹配定位精度低的问题,建立了一种地磁空间向量积的最优估计匹配模型MPMD,也称为磁特征参量联合距离匹配算法。试验选取了模拟矿井的2个水平巷道H-11和H-21,通过对2个巷道地磁数据的均值、标准差、粗糙度和信息熵的统计分析,评价出H-11为地磁定位弱适配区,H-21为强适配区。在H-11和H-21巷道内开展了MSD,MAD,MPMD算法匹配定位的对比试验,分析了3种算法在地磁变化、噪声扰动下的地磁匹配的精度和抗噪性能。结果表明:在地磁特征丰富的H-21强适配区,3种算法的总体匹配概率都达到了95%以上,但MPMD定位精度高于MSD,MAD算法,基本上保持在一个网格间格内;在地磁特征贫乏的H-11弱适配区,MPMD算法能够较好的处理模糊匹配多值问题,不易出现虚定位。在H-21强适配区开展了算法性能测试,当噪声为200 nT时,MSD和MAD匹配有少量虚定位,MPMD算法匹配结果基本无误差,效果很好;在噪声400 nT和600 nT抗噪性能试验中,MSD和MAD匹配出现大量虚定位,MPMD算法有少量虚定位,总体匹配概率也达到了89%,表现出较强的鲁棒性。MPMD算法是一种有效高精度地磁匹配方法,在准确度、精度和鲁棒性方面确实具有明显优势,但匹配过程耗时较多,需要从搜索策略上进一步优化。

  • Abstract
    Experimental research and theoretical analysis of MPMD matching algorithm based on the GRPM under- ground positioningHigh-precision positioning service is important for the underground production management,the in- telligent escape and the emergency search. A novel method named GRPM was proposed in this paper,which is the combination of the radio frequency identification and the geomagnetic matching. GRPM is the positioning method with a high precision,autonomous,and suitable for the mine Internet of Things. The MPMD algorithm based on GRPM is a matching model for the optimal estimation of the joint distance of two-dimensional magnetic parameters,which can solve the problem of low accuracy of geomagnetic matching because the spatial distribution of geomagnetic anomaly field is not obvious,slowly changing or similar. Two horizontal roadways named H-11 and H-21 in simulated mine were selected in the study. The suitability of geomagnetic positioning in the H-21 roadway is good and in the H-11 roadway is poor,which were obtained through the statistical analysis of the mean,standard deviation,roughness and information entropy of their geomagnetic data. The geomagnetic matching studies with MSD,MAD,and MPMD algorithms in the H- 11 and H-21 roadways were carried out to compare the positioning accuracy and anti-noise performance of the three al- gorithms under the conditions of geomagnetic variation and noise disturbance. The study results show that the matching probability of the three matching algorithms all reached more than 95% in the roadway H-21 with abundant geomag- netic features,the matching accuracy of MPMD is higher than that of MSD and MAD,its matching error keep within a grid. MPMD algorithm is better than MSD and MAD algorithm in dealing with the problem of fuzzy matching value in H-11 roadway with poor geomagnetic features,and its matching results show few false locations. The algorithm perform- ance was tested in the H-21 roadway,there is a small amount of false location in the MSD and MAD matching under the 200 nT measurement noise,and the matching result of MPMD is nearly error-free. There are a lot of virtual locali- zation in the matching result of MSD and MAD under the 400 nT or 600 nT measurement noise,and MPMD has a few false locations,and the matching probability still reaches 89% . MPMD matching algorithm is an effective and high-pre- cision geomagnetic matching method,which has obvious advantages in accuracy and robustness. However,its matching process is more computational and time-consuming than other algorithms, which needs further optimization in the search strategy.
  • 关键词

    井下地磁定位GRPM定位匹配算法MPMD匹配射频识别鲁棒性

  • KeyWords

    underground magnetic positioning; GRPM positioning; matching algorithm; MPMD matching; radio fre- quency identification;robustness

  • 基金项目(Foundation)
    国家自然科学基金面上资助项目(51374089);河北省自然科学基金资助项目(E2018209345);河北省博士研究生创新资助项目(CXZZBS2017123)
  • DOI
  • Citation
    WANG Jinhua,GUO Yunfei,GUO Liwen, et al. Experimental research of MPMD matching algorithm based on the GRPM underground positioning[J]. Journal of China Coal Society,2019,44(4):1274-1282.
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