A Method of TOA Positioning for Mine to Effectively Reduce the Impact of Non - Line of Sight Error propagation

Abstract

In order to improve the positioning accuracy of time of arrival (TOA) in mine and analyse the main factors of positioning error of TOA, a method of TOA positioning for mine to effectively reduce the impact of non - line of sight (NLOS) error propagation is proposed based on the effective suppression of synchronization delay and timing error by symmetrical double-sided two way ranging (SDS-TWR). Firstly, the Kalman filter is used to eliminate the random NLOS delay caused by locomotives and other irregular devices. Then the parameter fitting method and geometric method are used to restrain the errors caused by the fixed NLOS delay in the locating area. The MATLAB simulation results show that the proposed method has a significant inhibitory effect on TOA positioning error and improves the accuracy of TOA positioning in the mine.