基于误差修正距离约束的深井巷道目标定位算法

针对基于距离约束的井下定位算法本身存在的近似误差，尤其在锚点附近定位误差较大的问题，通过改进算法，引入1个误差系数ω，并以此为依据，来选取误差较小的边作为定位信息来源，同时引入修正系数ε来进行修正分割点，使其更加接近于垂足，以此来减少定位的误差。仿真结果表明:改进算法的平均定位误差远小于原定位算法，约为1/4；改进算法的最大误差小于1.5 m、最小误差为0.2 m；改进算法不仅定位精度优于原定位算法，且计算复杂度较低，更加适用于深井环境定位。

Study on target location algorithm of deep mine roadway with distance constraint based on error correction

Aiming at the problem of approximation error in underground target location algorithm based on distance constraint, especially the large location error around the anchor point, an error coefficient ω was introduced to improve the algorithm. On this basis, the edges with smaller error were selected as the information source of location. Meanwhile, a correction coefficient ε was introduced to correct the division point, which made it closer to the foot of perpendicular, so as to reduce the location error. The simulation results showed that the average location error of the improved algorithm was much less than the original location algorithm, about 1/4 times. The maximum error of the improved algorithm was less than 1.5 m, and the minimum error was 0.2 m. The improved algorithm has a better location accuracy than the original location algorithm, with a lower computation complexity, so it's more suitable for the location in deep mine environment.