UWB and INS Integrated Localization Method for Mine Roadway Based on Improved Bayesian Estimation

BAO Jianjun; XU Cheng; XING Zhen; ZHANG Rong

doi:10.16545/j.cnki.cmet.2025.06.008

Abstract：In order to avoid the disadvantages of a single positioning method in the environment of coal mine underground tunnels,achieve the complementary advantages of ultra-wideband(UWB)and inertial navigation system(INS),and improve the accuracy of underground navigation positioning,a fusion positioning method based on improved Bayesian estimation was proposed when dealing with inconsistent observation data.By introducing inconsistency factors to adjust the variance in the likelihood function,the uncertainty of the data was more accurately reflected.Comparative experiments were designed in two environments,line of sight(LOS)and non-line of sight(NLOS),through simulation experiments to evaluate the performance parameters of the improved method in different environments.The results showed that the UWB positioning error remained within 0.5 m in line of sight environment,demonstrating good accuracy and stability.The INS error continued to increase,with a maximum error of 2.9 m.In non-line of sight environment,the UWB maximum error reached 2.3 m,while the INS error did not show significant changes.After fusing two positioning methods using Bayesian estimation,the maximum error in non-line of sight environments was reduced to 0.9 m,and different weight coefficients also had a certain impact on the error.The minimum errors were achieved for fUWB=0.8 and fINS=0.2,effectively reducing the impact of NLOS error on the positioning results and significantly improving the robustness and reliability of the positioning system.Compared to single UWB or INS positioning methods,the proposed fusion positioning method has a positive effect on improving positioning accuracy and suppressing path offset.