The Research On Key Issues Of Localization System Of Downhole Moving Trackless Equipments

As the mineral surface has been mining heavily, deep underground mining is developing quickly. The terrible underground working environment can not only cause bodily injuries to workers, but also leads to disruption of the underground trackless equipment drivers’ judgment and execution, which causes a traffic accident. At the same time, it affects the production efficiency as well. Safe operation of underground trackless equipment is an important factors which limit the development of mining.To solve the problem of safe operation of underground trackless equipment, a CSS localization system based on SDS-TWR algorithm was designed for real-time positioning of the distance between the equipment and the staff or other equipment and feedback to drivers with distance state information.First of all, the function requirements and the performance index of the system is analyzed, with the underground work environment particularity and the characteristics of trackless equipment in underground combined. Based on comparison of commonly used Wi-Fi, RFID, ZigBee, UWB, CSS positioning technologies such as the status quo, characteristics, application scope, and consideration of the economy, reliability, localization accuracy and feasibility, the CSS localization system is proposed and designed based on the chip nanoPAN5375 produced by Germany company Nanotron.Second, in this paper, the environment factors, which affect the localization performance is analyzed, and an Extended Kalman Filter(EKF) is proposed for correcting the positive ranging error and improving the localization accuracy. For eliminating the phenomenon of ranging data loss, a segment least square interpolation algorithm is proposed, thus the real-time localization system stability was improved.Finally, the PC software to deal with localization data analysis and real-time feedback of vehicle distance condition monitoring information to the driver was programmed on the platform Qt. And in an ideal environment and simulation downhole environment, the system was tested and analyzed through Matlab, which verified the underground trackless equipment mobile localization system is suitable for downhole real-time localization, and the precision meet the demand.