School of Mechanical Electronic & Information Engineering,China University of Mining & Technology(Beijing),Beijing　 100083,China

扩频测距是实现TOA定位的一种重要方式,在矿井环境下,由于密集多径的影响,其所测量数据具有非零均值的正向误差,严重影响目标的定位精度。针对这一问题,在研究井下巷道扩频测距正向偏差产生机制的基础上,提出一种测距平面约束下投影巷道空间的定位方法,以巷道延伸方向为x轴,巷道宽方向为y轴,建立测距平面,由于矿井巷道是狭长链状的,可以忽略定位目标在巷道内横截面上的信息,只关心定位目标在巷道内x方向上的位置信息,因此方法采用向x方向投影实现移动目标的一维定位,并充分利用y方向的冗余信息对定位目标点在测距平面上加以约束以使得x方向的估计值向真实值趋近,同时测距偏移误差转移到定位目标点的y方向,显著优化了x方向的定位精度。试验结果表明,该方法能够统一NLOS与LOS定位场景,不但在巷道方向上可获得零均值误差的定位估计值,而且能有效抑制测距系统的随机误差。

Spread spectrum ranging technology is an important approach for implementing TOA positioning,however,its ranging data with nonzero mean positive error will seriously influence positioning accuracy because of dense mine multi-path environments. To overcome this problem,a spread spectrum positioning method under the ranging plane constraint of projected mine tunnels is proposed based on the mechanism research on the generation of positive error. Firstly,a ranging plane coordinate system is established considering the extension direction of tunnel as x-axis and the width of tunnel as y-axis. As mine tunnel is a long and narrow chain-like space,the positional information of its x-di- rection is primarily concerned while its cross section can be neglected. So projected onto x-axis,moving target can be positioned in one dimensional space. By making a full use of redundant information of y-data,the position estimate of target within the designated zone of ranging plane can be constrained so that the accuracy of estimated x value is opti- mized evidently. The experiment results show that the proposed method is suitable to both NLOS and LOS situation. In addition,not only the zero mean error of estimate position in mine tunnel can be obtained,but also the random ranging error can be effectively restrained.

国家自然科学基金重点资助项目(51134024)；国家重点研发计划资助项目(2016YFC0801800)；

Sun Jiping,Jiang Ensong. Spread spectrum positioning method under ranging plane constraint of projected mine tunnels[J]. Journal of Chi- na Coal Society,2017,42(5):1339-1345.