Scientific journal
Scientific Review. Technical science
ISSN 2500-0799
ПИ №ФС77-57440

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A METHOD FOR LOCALISATION OF A MOBILE UNIT IN A MINE

Voronov R.V. 1 Galov A.S. 1, 2 Moschevikin A.P. 1, 3 Voronova A.M. 1 Stepkina T.V. 1
1 «Petrozavodsk State University»
2 «Nanoseti LTD»
3 «RTL-Service JSC»
Global navigation systems can not be used indoors. Special local positioning systems should be installed in this case. The paper presents the algorithms developed within the frames of RealTrac technology. RealTrac is based on nanoLOC radio standard. Distances between access points and mobile units are measured by means of the time-of-flight method. The measurement error is mainly caused by the non line of sight propagation of radio waves through reflections of a signal. A mine is described as an undirected weighted graph. The area of probable positions of the mobile unit is describes by a set of segments on the edges of the graph. To consider the possible movement of the mobile unit the fast algorithm of expansion of segments working in real time mode is proposed. The measurement errors and the maximum velocity of the mobile unit are taken into account. The work of the algorithm is demonstrated by an example. The mean positioning error is determined.