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Research on IMU-Assisted UWB-Based Positioning Algorithm in Underground Coal Mines

The application of an ultra-wideband (UWB) positioning system in a Global Positioning System (GPS) denial environment such as an underground coal mine, mainly focuses on position information and rarely involves information such as direction attitude. Position accuracy is often affected by multipath,...

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Detalles Bibliográficos
Autores principales: Wang, Lei, Zhang, Shangqi, Qi, Junyan, Chen, Hongren, Yuan, Ruifu
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10384321/
https://www.ncbi.nlm.nih.gov/pubmed/37512792
http://dx.doi.org/10.3390/mi14071481
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author Wang, Lei
Zhang, Shangqi
Qi, Junyan
Chen, Hongren
Yuan, Ruifu
author_facet Wang, Lei
Zhang, Shangqi
Qi, Junyan
Chen, Hongren
Yuan, Ruifu
author_sort Wang, Lei
collection PubMed
description The application of an ultra-wideband (UWB) positioning system in a Global Positioning System (GPS) denial environment such as an underground coal mine, mainly focuses on position information and rarely involves information such as direction attitude. Position accuracy is often affected by multipath, non-visible ranges, base station layout, and more. We proposed an IMU-assisted UWB-based positioning system for the provision of positioning and orientation services to coal miners in underground mines. The Error-State Kalman Filter (ESKF) is used to filter the errors in the measured data from the IMU-assisted UWB positioning system to obtain the best estimate of the error for the current situation and correct for inaccuracies due to approximations. The base station layout of the IMU-assisted UWB positioning system was also simulated. The reasonable setting of the reference base station location can suppress multi-access interference and improve positioning accuracy to a certain extent. Numerous simulation experiments have been conducted in GPS denial environments, such as underground coal mines. The experimental results show the effectiveness of the method for determining the position, direction, and attitude of the coal miner under the mine, which provides a better reference value for positioning and orientation in a GPS rejection environment such as under the mine.
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spelling pubmed-103843212023-07-30 Research on IMU-Assisted UWB-Based Positioning Algorithm in Underground Coal Mines Wang, Lei Zhang, Shangqi Qi, Junyan Chen, Hongren Yuan, Ruifu Micromachines (Basel) Communication The application of an ultra-wideband (UWB) positioning system in a Global Positioning System (GPS) denial environment such as an underground coal mine, mainly focuses on position information and rarely involves information such as direction attitude. Position accuracy is often affected by multipath, non-visible ranges, base station layout, and more. We proposed an IMU-assisted UWB-based positioning system for the provision of positioning and orientation services to coal miners in underground mines. The Error-State Kalman Filter (ESKF) is used to filter the errors in the measured data from the IMU-assisted UWB positioning system to obtain the best estimate of the error for the current situation and correct for inaccuracies due to approximations. The base station layout of the IMU-assisted UWB positioning system was also simulated. The reasonable setting of the reference base station location can suppress multi-access interference and improve positioning accuracy to a certain extent. Numerous simulation experiments have been conducted in GPS denial environments, such as underground coal mines. The experimental results show the effectiveness of the method for determining the position, direction, and attitude of the coal miner under the mine, which provides a better reference value for positioning and orientation in a GPS rejection environment such as under the mine. MDPI 2023-07-24 /pmc/articles/PMC10384321/ /pubmed/37512792 http://dx.doi.org/10.3390/mi14071481 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Communication
Wang, Lei
Zhang, Shangqi
Qi, Junyan
Chen, Hongren
Yuan, Ruifu
Research on IMU-Assisted UWB-Based Positioning Algorithm in Underground Coal Mines
title Research on IMU-Assisted UWB-Based Positioning Algorithm in Underground Coal Mines
title_full Research on IMU-Assisted UWB-Based Positioning Algorithm in Underground Coal Mines
title_fullStr Research on IMU-Assisted UWB-Based Positioning Algorithm in Underground Coal Mines
title_full_unstemmed Research on IMU-Assisted UWB-Based Positioning Algorithm in Underground Coal Mines
title_short Research on IMU-Assisted UWB-Based Positioning Algorithm in Underground Coal Mines
title_sort research on imu-assisted uwb-based positioning algorithm in underground coal mines
topic Communication
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10384321/
https://www.ncbi.nlm.nih.gov/pubmed/37512792
http://dx.doi.org/10.3390/mi14071481
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