Research On Precise Positioning Technology For Unmanned Monorail Crane Based On Dual Label UWB

Monorail crane is one of the important transportation equipment in the auxiliary transportation system of coal mines,and it is widely used in coal mine auxiliary transportation systems.However,the complex and harsh underground conditions result in low efficiency and many uncertain safety hazards for manually driven monorail cranes.Developing unmanned monorail cranes can help improve transportation efficiency and safety,and is of great value for accelerating the construction of smart mines.In order to promote the research and application of unmanned monorail crane technology,it is urgent to solve the problem of precise positioning of unmanned monorail crane in underground tunnel environments.This article takes the unmanned monorail crane as the research object,with the goal of improving the positioning accuracy of the monorail crane.Based on ultra wideband(UWB)technology,a precise positioning method for unmanned monorail cranes is studied.Firstly,analyze the propagation characteristics of wireless signals underground and the positioning requirements of unmanned monorail cranes,introduce the positioning principle of UWB and analyze its feasibility for underground positioning;By analyzing and discussing several commonly used ranging methods,UWB positioning technology based on Time of Arrival(TDOA)was selected to be applied to the monorail crane positioning system,and design requirements for positioning schemes were proposed for the positioning requirements of unmanned monorail cranes.Then,based on the longer structural characteristics of the monorail crane body,a dual label positioning scheme was designed,and suitable positioning sensors were selected for integration according to the requirements of this scheme;Based on the analysis of the influence of base station layout on positioning accuracy,the optimal layout of UWB positioning base stations is isosceles triangle based on genetic algorithm;According to the positioning needs of the monorail crane,the communication protocol of this positioning system was designed,and the data transmission process between the base station and the label was analyzed.Based on this,the upper computer software of this positioning system was designed.Secondly,the positioning results of the Chan algorithm are used as the initial values of the Taylor algorithm to fuse the two,ensuring the convergence and computational efficiency of the Taylor algorithm;Propose a dual label weighted C-T fusion algorithm based on the dual label positioning scheme,and simulate the weighted fusion algorithm.The simulation results show that the optimized algorithm improves the positioning accuracy by 44%,while reducing the parsing time by 40%;Using unscented Kalman(UKF)again to filter and optimize the weighted C-T fusion algorithm mentioned above,the positioning accuracy of the positioning system in the NLOS environment was improved.Through simulation,it was verified that the trajectory tracked by the UKF filter algorithm is more closely related to the real path,and as the NLOS error increases,the positioning effect improves more significantly.Then,simulation experiments were conducted in the laboratory to calibrate the delay error of the UWB positioning base station itself,and the positioning error coefficient was obtained to reduce the delay error;Through experiments,it has been verified that the upper computer software and hardware designed in this article can communicate,and the positioning accuracy of the UKF weighted C-T fusion algorithm has been improved,with a 60% reduction in fluctuation amplitude;Finally,the monorail crane real vehicle test was carried out at the stone coal machine test site,which verified that the isosceles triangle station arrangement method can improve the positioning accuracy by about 33%.The double label positioning system and algorithm can meet the positioning requirements of the monorail crane,with the static positioning accuracy of 20 cm and the Dynamic positioning accuracy of 30 cm.Overall,the unmanned positioning system for monorail cranes designed in this article has a positioning accuracy of up to decimeters,and greatly improves stability and reliability,which can meet the needs of unmanned monorail cranes.This paper consists of 95 figures,22 tables,and 102 references.