Research On Monitoring System For Shunting Operation Of Coal Mine Enterprises Based On GNSS/INS Combined Positioning

As a key link in the transportation organization of coal mining enterprises,railway shunting operation safety is the basis for ensuring the stable,smooth and efficient operation of the railway transportation system,and it is also the top priority for improving the safety production efficiency of transportation enterprises and realizing the intelligent development of science and technology.The shunting operation of coal mine enterprises has many points,wide areas,and complex and changeable situations,which are always the most important and difficult issues to ensure safety.With the rapid development of my country’s railway construction,some high-tech and equipment for shunting operation monitoring have been put into use one after another.For example,under the protection of wireless shunting locomotive signal and monitoring system(STP),common accidents in shunting have been significantly reduced.However,for the transportation department of coal mining enterprises,the high initial construction and later maintenance costs of these equipment do not meet the actual situation and needs of the enterprise.Based on the actual situation of the enterprise,in order to realize the active safety protection of the shunting operation and eliminate the hidden dangers of operation safety,a shunting operation monitoring system based on GNSS/INS combined positioning is designed,which can realize precise positioning and real-time display of locomotives under the condition of "low cost and high reliability",and provide active safety protection measures during the operation.The main research contents include:(1)Design a locomotive positioning algorithm suitable for coal mining enterprises.By analyzing the current situation of the enterprise,determine its demand for locomotive positioning accuracy,and on this basis,carry out research on the positioning algorithm based on GNSS/INS integrated navigation.A combined navigation filtering algorithm based on quaternions was constructed to reduce the error impact caused by multi-source data fusion;through simulation experiments,the two combination positioning modes of loose and tight were compared,and the loose combination mode with a simple structure was selected as the combined positioning method.(2)Performance experiment based on GNSS/INS combined positioning system.Combined with the satellite positioning module and the inertial measurement unit,the system hardware platform is built,the program is written to complete the development of the system software,and the effectiveness of the positioning algorithm designed in this paper is verified through field experiments.The experimental results show that under the condition of good satellite signal,the positioning position error of the integrated positioning system is less than 5meters,and the speed error is within 0.5m/s;during the period when the satellite signal is blocked,the system can still operate within the error range of 17 s and the effective operation time of 20 s,and can restore accurate positioning within 10 s after the satellite signal is restored.(3)Development of shunting operation monitoring system.Carried out a detailed design on the shunting operation monitoring system of the coal mine enterprise,built the database subsystem,and provided the basis for the system data storage and call;developed the locomotive positioning and display subsystem,completed the drawing of the digital map of the enterprise’s railway line,and used the map matching technology to realize the correct display of the locomotive position correction result on the line map;the on-board voice alarm subsystem has been developed and the voice alarm function has been realized.(4)Development of vehicle-mounted shunting operation monitoring equipment.The onboard hardware equipment and hardware drivers are designed,and the on-board equipment is installed on the shunting locomotive of the enterprise for actual operation inspection.During the shunting operation,the system can accurately display the position of the locomotive and the external environment of the locomotive in real time,and will give voice alarm prompts when the locomotive is over speeding or passing the protection area,which meets the active safety protection requirements during the shunting operation.