Height information aided 3D real-time large-scale underground user positioning

Due to the cost of inertial navigation and visual navigation equipment and lake of satellite navigation signals, they cannot be used in large-scale underground mining environment. To solve this problem, this study proposes a large-scale underground 3D real-time positioning method with seam height assistance. This method uses the ultra wide band positioning base station as the core and is combined with seam height information to build a factor graph confidence transfer model to realise 3D positioning. The simulation results show that the proposed real-time method is superior to the existing algorithms in positioning accuracy and can meet the needs of large-scale underground users.