现有矿用人员精确定位系统主要采用UWB定位技术，其中仅应用TOF的定位方法需要基于2个定位分站或天线联合进行测距和定向，存在定位时间长，定位卡功耗高，遮挡时定向不准确等问题。针对上述问题，提出了应用于煤矿井下一维定位场景为主，兼具二维定位场景的TOF与TDOA井下联合定位方法。该方法使用定位分站作为主基站，并通过CAN总线连接若干接收器作为从基站，在定位卡与主基站一次TOF测距过程中，从基站通过监听TOF定位的交互消息时间戳完成与主基站的无线时间同步及2组TDOA定位时间差信息并回传给主基站，结合标签与主基站的距离值，主基站完成2组标签与从基站的距离值计算及有效性判断。在模拟巷道搭建测试平台进行验证，结果表明：该方法兼具TOF与TDOA定位方法的优点，具有定位速度快，定位卡功耗较低，遮挡情况定向准确等优点。

The existing precise positioning system for mining personnel mainly adopts UWB positioning technology. The positioning method that only applies TOF requires joint ranging and orientation based on two positioning sub stations or antennas, which has problems such as long positioning time, high power consumption of positioning cards, and inaccurate orientation when underground personnel obstructed. In response to the above issues, a TOF and TDOA underground joint positioning method is proposed, which is mainly applied to one-dimensional positioning scenarios in coal mines and combines two-dimensional positioning scenarios. This method uses a positioning substation as the main base station, and connects several receivers through the CAN bus as the auxiliary base station. During the TOF ranging process between the positioning card and the main base station, the auxiliary base station completes wireless time synchronization with the main base station by listening to the interaction message timestamp of TOF positioning, and sends back two sets of TDOA positioning time difference information to the main base station. Combined with the distance value between the label and the main base station, the main base station completes the distance value calculation and validity judgment between the two sets of labels and the slave base station. A testing platform was built in a simulated tunnel for verification, and the results showed that this method combines the advantages of TOF and TDOA positioning methods, with fast positioning speed, low power consumption of positioning cards, and accurate orientation in occlusion situations.