Clusters 3D Real-time Cooperative Positioning Algorithm in Underground Mines

Location service is becoming more and more important in modern large-scale mines, and its primary demand is large scale, high precision and fast speed. This paper proposes a real-time cooperative location method of three- dimensional factor graph to deal with large-scale user location to solve the problem of cluster target location, including mine height assistance strategy, information transmission criterion, factor graph confidence model and three-dimensional factor graph cooperative location algorithm. Simulation results show that the proposed algorithm is superior to other algorithms in positioning scale, accuracy and real-time performance.