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

摘要： 为提高矿山井下机车的定位精度，提出了一种基于到达时间差（Time Difference of Arrival，TDOA）改进的矿山井下机车定位方法。采用超声波和无线电传播时间差实现测距，分析了测距技术在井下运用时产生的误差，并对误差进行补偿。为了修正机车定位过程中产生的位移误差，把位移误差化简为机车到节点的距离误差。通过规律性地布置节点和惯性导航技术，计算出位移后机车到节点的距离。使用最小二乘法估计出机车的初始位置坐标，并通过泰勒级数最小二乘法修正坐标实现定位，定位精度可达12 cm。相比于传统的定位算法，该方法增加了定位精度，且在机车不同速度下，保持了较为稳定的定位精度。

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