Coal mine personnel positioning algorithm based on improved adaptive unscented Kalman filter with wireless channel fading and unknown noise statistics

This paper is concerned with the problem of personnel localization in the complex coal mine environment with wireless channel fading and unknown noise statistics. Considering the random channel fading caused by signal fluctuation and transmission fault, an improved adaptive unscented Kalman filter (IAUKF) algorithm is proposed. The mean and error covariances of noise are estimated adaptively by adopting the improved Sage–Husa noise estimation method. In order to save energy and improve energy utilization, the multi-sensor clustering is performed to divide the spatial distribution of sensors into multiple clusters. The sensors in the same cluster can communicate with each other to maintain the consistency of estimation. The simulation results show that the IAUKF algorithm is better than extended Kalman filter (EKF), unscented Kalman filter (UKF), and improved unscented Kalman filter (IUKF) algorithms.