CAJ | 학술논문

针对矿井安全对井下人员位置信息精度和连续性提出的更高要求，提出一种基于误差修正方案的井下人员MEMS定位技术。依据加速度计输出比力均值和方差判定人员步态识别并完成脚部静止时间段的检测，结合零速误差修正工作原理，改进传统卡尔曼滤波方案，完成人员静止状态下运动信息计算误差和惯性器件偏差的滤波估计与补偿。搭建MEMS惯导系统实验平台，设计加速度方差阈值获取实验以及人员水平与三维运动实验。实验结果表明，基于误差修正技术的人员定位方法具有较高定位精度和可靠性。
침대광정안전대정하인원위치신식정도화련속성제출적경고요구，제출일충기우오차수정방안적정하인원MEMS정위기술。의거가속도계수출비력균치화방차판정인원보태식별병완성각부정지시간단적검측，결합령속오차수정공작원리，개진전통잡이만려파방안，완성인원정지상태하운동신식계산오차화관성기건편차적려파고계여보상。탑건MEMS관도계통실험평태，설계가속도방차역치획취실험이급인원수평여삼유운동실험。실험결과표명，기우오차수정기술적인원정위방법구유교고정위정도화가고성。
According to the requirement of position accuracy and continuity for underground staff by mine safety, MEMS position method for mining personnel based on error correction was proposed in this paper. Based on the changes of acceleration of personnel walking characteristics changes, the gait recognition method was designed by mean and variance of the force for the purpose of detecting the time period in a stationary state. Combined with the principle of zero error update, the traditional Kalman filter was designed and the calculation errors for personal moving and inertial errors were estimated in stationary. The evidence for gait recognition could be calculated by the experiment of acceleration variance threshold. The horizontal and three-dimensional motion experiments were carried out by personnel MEMS inertial navigation system. Experiment results show that,the higher accuracy and reliability based on error correction technology could be reached by personnel positioning method.