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《Modern Surveying and Mapping》 2017-06
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The Application of INS/Odometer Integrated Personal Position System with FRID in Digital Mining

GAO Jing-xiang;QIAN Ni-jia;China University of Mining and Technology,Jiangsu Key Laboratory of Resources and Environmental Information Engineering;  
Personal position technologies for underground mine is one important section to realize digital mine.INS/Odometer integrated system is difficult to meet the acquirement of high accuracy personal position for underground mine.The INS(inertial navigation system)and Odometer have the problem of accumulation error.INS/Odometer integrated personal position system with RFID(radio frequency identification)was proposed to solve the above problem.Firstly,system dynamic model and observation model of INS/Odometer integrated position system is built.The observation of RFID aided model is constructed.The federated filter is introduced to increase the filter stability.Based on that,the detail process of INS/Odometer integrated personal position system with RFID is proposed.Experiment of simulated data was made to verify the position accuracy.The results of the experiment indicate that the INS/Odometer integrated position performance is increased substantially by position modification of RFID.The federated filter is able to increase the filter convergence speed and accuracy.Plane precision of real-time position increased about 1/3,which is able to meet the needs of position accuracy for underground mine person.
【Fund】: 国家重点研发计划资助项目(2016YFC0803103);; 国家自然科学基金项目(41674008;41604006)
【CateGory Index】: TD67
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