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Outline
A fusion positioning method based on UWB (Ultra Wideband) and IMU (Inertial Measurement Unit) was proposed to address the issues of low positioning accuracy and poor real-time performance of underground inspection robots in mines due to environmental influences. Firstly, the UWB ranging module was used to measure the distance between the inspection robot and the UWB base station. Secondly, a GRU (Gated Recurrent Unit) neural network model was constructed, and the UWB measurement distance and real distance were input into the neural network model for training, resulting in a GRU correction model. Then, the GRU neural network was used to correct the model for the measured distance, suppressing NLOS (Non-Line of Sight) distance errors in complex environments and obtaining more accurate distances than before. Finally, the corrected distance information was combined with the data provided by the IMU through ESKF (Error State Kalman Filter) to construct the error state equation and measurement equation, respectively, to evolve and update the system's error state and calculate more accurate position coordinates. The experimental results show that under three different NLOS environments, the corrected static experimental positioning accuracy is improved by 6.09%, 16.56% and 18.89% respectively, and the positioning accuracy in the composite scene is improved by 11.36% compared to before. In the dynamic experiment, the corrected average positioning accuracy is improved by 11.10% compared to before. By correcting the pseudo range measured under non line of sight, the impact of non line of sight can be reduced and the positioning accuracy can be improved.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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