关键词: 机车定位, TDOA测距, 惯性导航技术, 最小二乘法, 泰勒级数

Abstract: In order to improve the positioning accuracy of underground mine locomotive, an improved positioning method of underground mine locomotive based on TDOA is presented. Ranging is achieved by using of the difference of propagation time between ultrasonic and radio, and the errors of ranging technical are analyzed during it is used in underground, the errors also are compensated. In order to correct the displacement error during the positioning of locomotive, it is simplified as distance error of locomotive to nodes. The arranged nodes regularly and inertial navigation technology are used to compute the distance of locomotive to nodes after the displacement of the locomotive. The initial coordinate of locomotive is estimated by using the least squares method, and the coordinate is modified by using Taylor series least squares method. The positioning accuracy is achieved 12 cm. Compared to the traditional positioning algorithm, it increases the positioning accuracy, and can maintain stable positioning accuracy in different speed of locomotive.

Key words: locomotive positioning, TDOA ranging, inertial navigation technology, least squares method, Taylor series