Research On UAV Flight Trajectory Localization And Multi-UAV Collaborative Search Method For Coal Mine Enviroment

After coal mine disaster accident,the roadway environment has the characteris-tics of great danger,bad working environment,high concentrations of poisonous and harmful gases,and unpredictable secondary disaster events.If rescue personnel are sent directly to the accident scene,it is difficult to ensure the safety of rescue workers,which bring great difficulties to the underground search and rescue work.Using Unmanned Aerial Vehicle(UAV)to enter the mine to conduct environmental searches can not only detect the environmental information of post-disaster mines,but also locate the specific location of trapped or injured miners.Due to the limited detection distance and range of a single UAV under the mine,it is easy to miss the search space,resulting in a blind spot for environmental detection.In addition,using single UAV to search the mine environment takes a long time,and its flexibility,robustness,and functional scalability are not high,resulting in low search efficiency.Using multiple Unmanned Aerial Vehicle(multi-UAV)collaborative search can well overcome the aforementioned defects of a single UAV,and can obtain environmental information more accurately,completely and quickly,which provides protection for emergency security disaster relief.This thesis study the localization method of UAV flight trajectory in mine environment and based on which the method of multi-UAV collaborative search for mine environment is studied,laying a certain theoretical foundation for the application of UAV in coal mines to assist search and rescue.This paper takes the mine environment as the research background.Firstly,the localization model of UAV flight trajectory based on Micro-Electro-Mechanical System(MEMS)acceleration sensor and gyroscope is established,and the main error sources of the localization model are analyzed.By using Kalman filtering,velocity-displacement reconstruction and other methods to deal with the correspond-ing errors.Besides,the feasibility of the algorithm is demonstrated by the simulation experiments,and more accurate localization information is finally obtained.Secondly,the method of multi-UAV collaborative search for mine environment is investigated.In order to avoid the appearance of scattered unknown areas in the search process,which will lead to repeated coverage in the later stage of the search,the UAV navigation angle is taken into account on the basis of the basic boundary search algorithm.At the same time,the dispersiveness evaluation mechanism is introduced to reduce the congestion between UAVs,and ultimately the objective function of multi-UAV collaborative search is constructed.Finally,the ant colony algorithm is adopted to optimize the multi-UAV collaborative search method,and the simulation experiments verify the rationality and high efficiency of the improved algorithm.By using the improved algorithm,the search efficiency of Multi-UAV systems has been significantly improved,and the repeated search for the mine environment and the conflict phenomena in flight have been effectively avoided.