WANG L, ZHANG W B, YU J X, et al. Mine personnel cooperative location algorithm based on ultra-wideband[J].Journal of Henan Polytechnic University(Natural Science) ,2025,44(6):201-208.

doi:10.16186/j.cnki.1673-9787.2022020009

Received: 2022/02/08

Revised: 2022/09/05

Published: 2025/10/14

Mine personnel cooperative location algorithm based on ultra-wideband

Wang Lei1, Zhang Wenbo1, Yu Jinxia1, He Junyi1, Yuan Ruifu2, Gao Yan2

1.School of Computer Science and Technology， Henan Polytechnic University， Jiaozuo  454000， Henan， China；2.School of Energy Science and Engineering， Henan Polytechnic University， Jiaozuo  454000， Henan， China

Abstract: Objectives To address the issues of positioning blind zones， low localization accuracy for personnel at the working face， and non-line-of-sight （NLOS） errors in underground mines， a cooperative localization algorithm based on ultra-wideband （UWB） technology was proposed. The algorithm was designed to significantly enhance positioning accuracy， optimize base station deployment， and provide efficient and reliable support for mine safety management. Methods Firstly， mobile nodes carried by mine personnel were utilized as relays to establish a cooperative localization mechanism， by which the distribution density and communication radius requirements of UWB base stations at the underground working face were effectively reduced. This design was adapted to complex tunnel environments， whereby positioning blind zones were mitigated and signal coverage was significantly improved， overcoming challenges posed by confined spaces and limited base station placement. Secondly， to address the impact of NLOS errors on positioning accuracy， a two-stage error mitigation strategy was employed： Initially， a Gaussian model was used to model and correct signal propagation distortions caused by obstacles such as walls or equipment； Subsequently， a grid screening strategy was applied to filter out residual outliers by dividing the data into grids， whereby the reliability of positioning data was further enhanced. Finally， an improved Sparrow Search Algorithm， incorporating adaptive step sizes and dynamic weighting mechanisms， was applied to optimize the screened results， by which convergence speed was significantly improved and high-precision positioning was achieved. Results Simulation results demonstrated that the proposed algorithm achieved an average localization accuracy of 0.19 meters， by which similar high-performing algorithms were surpassed in both precision and stability. Moreover， superior performance was maintained even with fewer base stations， while computational efficiency was satisfied for real-time underground positioning demands. Conclusions This UWB-based cooperative localization algorithm effectively resolved key technical challenges in mine positioning， by which a highly accurate and robust solution for personnel safety monitoring was offered with significant theoretical and practical values.

Key words: UWB; personnel assisted cooperative positioning; communication radius; mesh filter ;improved sparrow search algorithm