Abstract: A novel Taylor positioning scheme for underground coal mine is presented to improve the positioning accuracy. Considering the Taylor algorithm depends on the initial value highly, the algorithm uses weight and threshold to choose the initial value by excluding coordinates which are of great error and then calculate the rest of coordinates based on weight. UWB wireless positioning system is designed to achieve this algorithm, the results show that the positioning accuracy achieves 0.4 m, which demonstrates it is suitable for coal mine environment.

Key words: Taylor algorithm；threshold selection, calculation based on weight, positioning system based on Ultra Wide-Band（UWB） technology

摘要： 针对无线信号在煤矿巷道中传播时由于多径效应明显，而导致定位精度不高的问题，通过对UWB定位模型进行分析，提出一种基于Taylor级数展开的UWB（Ultra Wide-Band）定位算法。考虑Taylor级数迭代算法对初始值依赖性很高的问题，首先采用三点直接定位算法对目标节点进行粗定位，然后通过阈值筛选和权重计算产生Taylor定位的初始值，再进行迭代求解，进行第二次精确定位。一个基于UWB无线定位系统平台对该算法进行了验证，结果表明该算法可以保证最大定位误差为0.4 m，基本满足井下定位的需要。

关键词: Taylor级数展开, 阈值筛选, 权重计算, （UWB）定位系统