针对煤矿井下巷道中移动机器人受环境影响，位姿感知难、定位精度低等难题，提出了一种以激光标靶作为定位基准的移动机器人精确定位方法。根据巷道环境特征与激光追踪检测原理，提出激光标靶网络分布式布署策略，构建基于激光标靶网络与激光追踪器的机身定位检测平台；依据已知巷道空间信息与激光标靶位置信息，构建巷道坐标系及位置信息数据库并内置于激光标靶，利用定位检测平台解算激光标靶在激光发射器坐标系下的实际位置信息，建立激光标靶在巷道坐标系与机身坐标系的关联关系；通过提取数据库中激光标靶的4个特征点坐标信息，将其作为输入数据引入激光发射器与激光标靶定位模型，通过EPnP (Efficient Perspective-n-Point)算法求解机身位置信息，并以激光标靶巷道坐标与实测坐标最小残差平方和表征机身位置误差，构建机身位置误差模型，利用列文伯格−马夸尔特(Levenberg–Marquardt, L-M)算法最小化机身位置误差，通过空间坐标转换得到移动机器人在巷道坐标系的精确位置信息。经试验验证：移动机器人沿巷道方向、宽度方向和高度方向位置测量最大误差小于11.33、8.12、8.57 mm；动态轨迹测量试验的实际位置与理论位置误差在巷道方向、宽度方向、高度方向最大误差率为2.74 %、3.14 %、2.36 %，且保证了在转弯的复杂巷道中机身定位的稳定测量，满足煤矿井下移动机器人定位精度要求。

Aiming at the difficulties of mobile robots in the underground tunnel of a coal mine, such as difficult position sensing and low positioning accuracy due to the influence of the environment, a precise positioning method for mobile robots using laser targets as the positioning reference is proposed. According to the characteristics of the roadway environment and the laser tracking detection principle, establish the distributed deployment strategy of the laser target network, construct the body positioning detection platform based on the laser target network and laser tracker; based on the known spatial information of the roadway and the laser target position information, construct the roadway coordinate system and the position information database and build it into the laser target, and utilize the positioning detection platform to decipher the actual position information of the laser target under the laser transmitter coordinate system, and establish the laser target positioning accuracy. The actual position information of the laser target in the coordinate system of the laser transmitter is solved using the positioning detection platform, and the correlation relationship between the coordinate system of the laser target in the roadway and the coordinate system of the fuselage is established; the coordinate information of the four characteristic points of the laser tracker stored in the database is used as the input of the positioning model of the laser transmitter, and the laser target, and the position information of the fuselage is solved by the EPnP (Efficient Perspective-n-Point) algorithm, and the roadway of the laser target is used to solve the position information of the fuselage. The body position information is solved by EPnP (Efficient Perspective-n-Point) algorithm, and the minimum residual sum of squares of the laser target lane coordinates and the measured coordinates is used to characterize the body position error, construct the body position error model, and minimize the body position error by Levenberg-Marquardt algorithm, and obtain the accurate position information of the mobile robot in the lane coordinate system through the spatial coordinate conversion. After experimental verification, the maximum error of mobile robot distance measurement along the direction of the roadway, the width direction, and the height direction is less than 11.33, 8.12, 8.57 mm; the maximum errors of the actual and theoretical positions of the dynamic trajectory measurement in the roadway direction, width direction and height direction are 2.74, 3.14 and 2.36 %, and the stable measurement of body positioning is guaranteed in the complex roadway with turns. The stable measurement of body positioning meets the requirements of positioning accuracy of mobile robots in underground coal mines.