School of Artificial Intelligence, China University of Mining and Technology-Beijing

分析了超声波、激光、视频、惯导、计步器、无线电等矿井测距和定位技术，其中，无线电测距和定位具有定位距离远、定位误差较小、不受光照影响、受粉尘影响小、便于身份识别、系统成本较低等优点，宜用于矿井人员定位和矿井人员精确定位。分析了UWB，ZigBee，RFID，5G，WiFi6等无线电测距和定位技术：矿用UWB具有定位距离较远、定位误差最小、成本较低等优点，宜用于矿井人员精确定位系统；矿用ZigBee具有定位距离远、定位误差较小、成本较低等优点，宜用于矿井人员定位系统等；矿用RFID具有系统成本最低等优点，宜用于煤矿井下作业人员管理系统等；矿井5G和WiFi6定位精度低于UWB，系统成本高于ZigBee，不宜用于矿井人员定位和矿井人员精确定位系统。分析了接收的信号强度指示（RSSI）、到达时间（TOA）、到达时间差（TDOA）、双程测距（TWR）、对称双边双程测距（SDS−TWR）、到达角度（AOA）等矿井人员定位算法：RSSI定位法定位误差大，难以满足矿井人员定位和矿井人员精确定位的需求；TOA定位法要求定位卡和分站时钟计时精确并同步，定位卡和定位分站成本高，不宜用于矿井人员定位和矿井人员精确定位；TDOA定位法不要求定位卡与定位分站时钟同步，对定位卡时钟精度要求低，定位卡成本低，但要求定位分站时钟计时精确，定位分站之间时钟同步，定位分站成本高，可用于矿井人员定位和矿井人员精确定位；TWR定位法和SDS−TWR定位法既不需要定位分站与定位卡时钟同步，也不需要定位分站之间时钟同步，更不需要定位卡之间时钟同步，降低了定位卡和定位分站复杂度和成本，宜用于矿井人员定位和矿井人员精确定位；AOA定位法系统复杂、成本高，远距离定位误差大，有定位死角，只能用于直线无障碍定位，定位天线和定位精度受机械振动等影响大，不宜独立用于矿井人员定位和矿井人员精确定位，但可与其他矿井定位方法联合使用。

This paper analyzes the technologies of mine ranging and positioning, such as ultrasound, laser, video, inertial navigation, pedometer, and radio. Among them, radio ranging and positioning have the advantages of long positioning distance, small positioning error, no impact from light, little impact from dust, easy identification, and low system cos. They are suitable for positioning mine personnel and precise positioning of mine personnel. The paper analyzes radio ranging and positioning technologies such as UWB, ZigBee, RFID, 5G and WiFi6. Mining UWB has the advantages of long positioning distance, small positioning error, and low cost. It is suitable for precise positioning systems for mine personnel. Mining ZigBee has the advantages of long positioning distance, small positioning error, and low cost. It is suitable for mine personnel positioning systems. Mining RFID has the advantage of having the lowest system cost. It is suitable for coal mine underground personnel management systems. The positioning precision of mine 5G and WiFi6 is lower than UWB, and the system cost is higher than ZigBee. It is unsuitable for mine personnel positioning and precise positioning systems. The received signal strength indication (RSSI), time of arrival (TOA), time differences of arrival (TDOA), two-way ranging (TWR), symmetrical double-sided two way ranging (SDS-TWR), angle of arrival (AOA) and other mine personnel positioning algorithms are analyzed. The RSSI positioning method has a large positioning error, making it difficult to meet the needs of mine personnel positioning and precise positioning. The TOA positioning method requires accurate and synchronized timing between the positioning card and the substation clock. The positioning card and substation have high costs. It is unsuitable for mine personnel positioning and precise positioning. The TDOA positioning method does not require synchronization between the positioning card and the positioning sub-station clock. It has low requirements for the precision of the positioning card clock and low cost of the positioning card. However, it requires accurate timing of the positioning sub-station clock and synchronization between the positioning sub-stations. The positioning substation cost is high. It can be used for mine personnel positioning and precise positioning. The TWR positioning method and SDS-TWR positioning method do not require clock synchronization between the positioning substation and the positioning card, nor do they require clock synchronization between the positioning substations, nor do they require clock synchronization between the positioning cards. This reduces the complexity and cost of the positioning card and the positioning substation. It is suitable for mine personnel positioning and precise positioning. The AOA positioning method system is complex, costly, with large long-distance positioning errors and dead angles. It can only be used for straight-line obstacle-free positioning. The positioning antenna and positioning precision are greatly affected by mechanical vibration. It is not suitable for the independent positioning of mine personnel and precise positioning. However, it can be used in conjunction with other mine positioning methods.

国家重点研发计划项目（2016YFC0801800）。

0 引言
1 煤矿井下人员位置监测系统
1.1 煤矿井下作业人员管理系统
1.2 矿井人员定位系统和矿井人员精确定位系统
2 矿井测距和定位技术
3 矿井人员定位算法
3.1 RSSI定位法
3.2 TOA定位法
3.3 TDOA定位法
3.4 TWR定位法
3.5 SDS-TWR定位法
3.6 AOA定位法
4 结论

孙继平. 矿井人员位置监测技术[J]. 工矿自动化，2023，49(6)：41-47.

SUN Jiping. Mine personnel position monitoring technology[J]. Journal of Mine Automation，2023，49(6)：41-47.