Undermine Intelligent Gas Detection Car Based on INS/WSN and Algorithm Implementation

This paper introduces a design of smart car which is used for gas detection and positioning under coal mine. The smart car uses INS/WSN integrated technology based on extended Kalman filter, thus overcoming the drawbacks of INS/WSN separate navigation and improving the positioning accuracy. Both the hardware and the software of this smart car will be described. The actual simulation results show that compared with INS and WSN, the INS/WSN integrated navigation system has an obvious improvement in positioning precision. In the simulated condition, the measurement of mine gas concentration and the accurate location of the system can be achieved.