Research on Location Estimation for Coal Tunnel Vehicle Based on Ultra-Wide Band Equipment

Xiaoming Yuan, Yueqi Bi (), Mingrui Hao, Qiang Ji, Zhigeng Liu and Jiusheng Bao
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Xiaoming Yuan: China National Engineering Laboratory for Coal Mining Machinery, Taiyuan 030000, China
Yueqi Bi: China National Engineering Laboratory for Coal Mining Machinery, Taiyuan 030000, China
Mingrui Hao: China National Engineering Laboratory for Coal Mining Machinery, Taiyuan 030000, China
Qiang Ji: China National Engineering Laboratory for Coal Mining Machinery, Taiyuan 030000, China
Zhigeng Liu: China National Engineering Laboratory for Coal Mining Machinery, Taiyuan 030000, China
Jiusheng Bao: School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China

Energies, 2022, vol. 15, issue 22, 1-17

Abstract: Because the road surfaces of the underground roadways in coal mines are slippery, uneven, with dust and water mist, and the noise and light illumination effects are significant, global positioning system (GPS) signals cannot be received, which seriously affects the ability of the odometer, optical camera and ultrasonic camera to collect data. Therefore, the underground positioning of coal mines is a difficult issue that restricts the intellectualization of underground transportation, especially for automatic robots and automatic driving vehicles. Ultra-wide band (UWB) positioning technology has low power consumption, high performance and good positioning effects in non-visual environments. It is widely used in coal mine underground equipment positioning and information transmission. In view of the above problems, this research uses the WLR-5A mining unmanned wheeled chassis experimental platform; uses two UWB receivers to infer the position and yaw information of the vehicle in the underground roadway through the method of differential mapping; and tests the vehicle on the double shift line and quarter turn line in the GAZEBO simulation environment and on the ground simulation roadway to simulate the vehicle meeting conditions and quarter turning conditions in the underground roadway. The positioning ability of the method in these two cases is tested. The simulation and test results show that the vehicle position and attitude information deduced by two UWB receivers through the differential mapping method can basically meet the requirements of underground environments when the vehicle is traveling at low speeds.

Keywords: intelligent coal mine; ultra-bandwidth; pose estimation; unmanned driving (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2022
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