Real-time positioning correction algorithm for precise personnel positioning system in underground mine based on topologies of combined mine network and positioning equipment data

For the problem that the accuracy of personnel positioning in coal mines is susceptible to the calculation errors of the hardware system and complex roadway conditions, which leads to the problem of inconsistency between the calculation results and the actual position coordinates of the personnel, a real-time positioning correction algorithm based on topological structure of lanes and positioning equipment for precise personnel positioning system in underground mine was proposed. Firstly, the topological relationship between lanes and positioning equipment was constructed; then, the deviation of personnel ranging signal was calculated; finally, the real-time position correction of personnel positioning was realized based on the topology network and deviation of ranging signal. Test results show that in the complex condition of lanes, the average time-consuming of correction calculation was about 0.002 5 s, and the accuracy of lanes positioning was higher than 90%, the error between coordinate correction and actual measurement is small. Experimental results show that proposed method can get high correction accuracy, real-time effects and robustness.