A Method of TOA Positioning for Mine to Effectively Reduce the Impact of Non - Line of Sight Error propagation
- Resource Type
- Authors
- Chen Xi; Shao Xiaoqiang; Li Kang Le
- Source
- 2018 Chinese Control And Decision Conference (CCDC).
- Subject
- Propagation of uncertainty
Line-of-sight
Computer science
Ranging
02 engineering and technology
Kalman filter
01 natural sciences
Synchronization
010309 optics
Non-line-of-sight propagation
Time of arrival
020401 chemical engineering
0103 physical sciences
0204 chemical engineering
Algorithm
- Language
In order to improve the positioning accuracy of time of arrival (TOA) in mine and analyse the main factors of positioning error of TOA, a method of TOA positioning for mine to effectively reduce the impact of non - line of sight (NLOS) error propagation is proposed based on the effective suppression of synchronization delay and timing error by symmetrical double-sided two way ranging (SDS-TWR). Firstly, the Kalman filter is used to eliminate the random NLOS delay caused by locomotives and other irregular devices. Then the parameter fitting method and geometric method are used to restrain the errors caused by the fixed NLOS delay in the locating area. The MATLAB simulation results show that the proposed method has a significant inhibitory effect on TOA positioning error and improves the accuracy of TOA positioning in the mine.