矿井TOA定位的误差抑制及位置估计关键技术研究

基于电磁波到达时间TOA技术将逐步替代RFID和RSSI等，成为矿井目标定位的主流技术，但该技术在矿井中应用存在着同步延时、多径效应、非视距误差等问题，导致了定位精度不够准确。为此，本项目首先研究基于CSS技术的SDS-TWR方法，以抵消同步延时和计时器计时误差；然后，根据矿井电磁波多径效应特点，提出基于电磁超材料抑制矿井电磁波传输多径效应的方法；针对非视距误差鉴别，提出滤除和重构非视距误差数据；研究矿井非视距误差分布规律，并提出相应的定位实验测试方案；最后，针对矿井巷道的特殊性，提出基于压缩感知的巷道TOA位置指纹定位方法,并提出位置指纹数据库去噪算法和基于约束条件的位置指纹数据匹配算法。从而提高基于TOA技术的煤矿井下目标定位系统的定位精度。项目预期成果：公开发表学术论文10篇（其中SCI和EI检索5篇），申请并授权发明专利8项，培养博士研究生4名，硕士研究生8名。

The TOA(electromagnetic wave arrival time) technology will gradually replace RFID and RSSI, become the mainstream technology of mine target positioning, but the technology in the mine application due to the existence of synchronization delay and non line of sight error results in the positioning accuracy is not accurate enough. Therefore, this project first researchs SDS-TWR method based on CSS technology, to offset the delay synchronization and timer timing error; then, according to the characteristics of mine electromagnetic wave non line of sight transmission ,proposes a method of restraining multipath effect of mine electromagnetic wave transmission based on electromagnetic metamaterials; through the analysis of non line of sight error mechanism proposes non line of sight error identification method and the corresponding test scheme, according to mine non line of sight error distribution, proposes the filtering and reconstruction of non line of sight error data to restrain the non line of sight error; finally, in view of the particularity of the mine roadway , proposes the roadway TOA location fingerprinting positioning method based on compressed sensing algorithm, and puts forward position fingerprint database denoising algorithm and position fingerprint data matching algorithm based on constraint conditions. So as to improve the positioning accuracy of mine target positioning system based on TOA technology.Project expected results: published 10 academic papers (including 5 SCI and EI search), the application and authorization of the invention patents 8, 4 doctoral students, 8 graduate students.