Underground multi-sensor integrated navigation system
In view of problems of high cost of high-precision inertial navigation of underground vehicle and large drift of low-cost MEMS inertial sensor, an underground multi-sensor integrated navigation system was proposed, which uses bluetooth ranging information, MEMS inertial sensor and vehicle odometer i...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Department of Industry and Mine Automation
2019-07-01
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| Series: | Gong-kuang zidonghua |
| Subjects: | |
| Online Access: | http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.17432 |
| _version_ | 1818138643566428160 |
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| author | ZHANG Yuangang LIU Kun BAI Meng PENG Jiguo |
| author_facet | ZHANG Yuangang LIU Kun BAI Meng PENG Jiguo |
| author_sort | ZHANG Yuangang |
| collection | DOAJ |
| description | In view of problems of high cost of high-precision inertial navigation of underground vehicle and large drift of low-cost MEMS inertial sensor, an underground multi-sensor integrated navigation system was proposed, which uses bluetooth ranging information, MEMS inertial sensor and vehicle odometer information for integrated navigation. The system uses Kalman filter technology to fuse multi-sensor data, combines Bluetooth ranging information to suppress MEMS inertial sensor drift, and improve positioning accuracy of inertial sensor in a period of time; Vehicle position is predicted by MEMS inertial sensor to effectively filter out Bluetooth signal of interference tags, so as to improves data reliability; Integration of odometer data can make the positioning result more stable and reliable. The test results show that the positioning error of every 10 m is less than 3.2 m under the condition that the underground Bluetooth tags are distributed 10 m apart, which can meet requirements of underground navigation. |
| first_indexed | 2024-12-11T10:15:28Z |
| format | Article |
| id | doaj.art-3ef321c0e8f64774bcdd7680b66af923 |
| institution | Directory Open Access Journal |
| issn | 1671-251X |
| language | zho |
| last_indexed | 2024-12-11T10:15:28Z |
| publishDate | 2019-07-01 |
| publisher | Editorial Department of Industry and Mine Automation |
| record_format | Article |
| series | Gong-kuang zidonghua |
| spelling | doaj.art-3ef321c0e8f64774bcdd7680b66af9232022-12-22T01:11:37ZzhoEditorial Department of Industry and Mine AutomationGong-kuang zidonghua1671-251X2019-07-01457101610.13272/j.issn.1671-251x.17432Underground multi-sensor integrated navigation systemZHANG YuangangLIU KunBAI MengPENG JiguoIn view of problems of high cost of high-precision inertial navigation of underground vehicle and large drift of low-cost MEMS inertial sensor, an underground multi-sensor integrated navigation system was proposed, which uses bluetooth ranging information, MEMS inertial sensor and vehicle odometer information for integrated navigation. The system uses Kalman filter technology to fuse multi-sensor data, combines Bluetooth ranging information to suppress MEMS inertial sensor drift, and improve positioning accuracy of inertial sensor in a period of time; Vehicle position is predicted by MEMS inertial sensor to effectively filter out Bluetooth signal of interference tags, so as to improves data reliability; Integration of odometer data can make the positioning result more stable and reliable. The test results show that the positioning error of every 10 m is less than 3.2 m under the condition that the underground Bluetooth tags are distributed 10 m apart, which can meet requirements of underground navigation.http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.17432underground positioningunderground vehicle navigationintegrated navigationmulti-sensor information fusionkalman filtermems inertial sensorbluetoothodometer |
| spellingShingle | ZHANG Yuangang LIU Kun BAI Meng PENG Jiguo Underground multi-sensor integrated navigation system Gong-kuang zidonghua underground positioning underground vehicle navigation integrated navigation multi-sensor information fusion kalman filter mems inertial sensor bluetooth odometer |
| title | Underground multi-sensor integrated navigation system |
| title_full | Underground multi-sensor integrated navigation system |
| title_fullStr | Underground multi-sensor integrated navigation system |
| title_full_unstemmed | Underground multi-sensor integrated navigation system |
| title_short | Underground multi-sensor integrated navigation system |
| title_sort | underground multi sensor integrated navigation system |
| topic | underground positioning underground vehicle navigation integrated navigation multi-sensor information fusion kalman filter mems inertial sensor bluetooth odometer |
| url | http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.17432 |
| work_keys_str_mv | AT zhangyuangang undergroundmultisensorintegratednavigationsystem AT liukun undergroundmultisensorintegratednavigationsystem AT baimeng undergroundmultisensorintegratednavigationsystem AT pengjiguo undergroundmultisensorintegratednavigationsystem |