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根据井下巷道的空间结构特点,提出一种基于位置指纹的井下电磁波超声波联合精确定位方法。使用训练节点生成位置指纹数据库,移动节点通过超声波测距同时与锚节点进行无线通信,得到位置指纹特征信息,通过位置指纹匹配运算找到与移动节点所在位置最近的参考点的二维坐标,定为移动节点的二维坐标。
According to the spatial structure characteristics of downhole roadway, a method based on position fingerprint combined with precise positioning of downhole electromagnetic wave is proposed. The training node is used to generate the location fingerprint database. The mobile node wirelessly communicates with the anchor node through ultrasonic ranging to obtain the location fingerprint characteristic information. The two-dimensional coordinates of the reference point closest to the location of the mobile node are found by the location fingerprint matching operation. The two-dimensional coordinates of the mobile node.