Method and device for locating underground personnel in coal mine

The invention discloses a method for automatic location of underground personnel in the coal mine. The method is as below: (a) detecting current triaxial acceleration and triaxial angular velocity of an underground personnel as a location object on real-time basis, and detecting the magnetic field strength of a current location; (b) collecting the above data periodically, and calculating location information, including motion velocity and relative position, of the location object in each collecting period by using these detection data; and (c) transmitting the calculated location information through a Zigbee wireless network to a ground monitoring system for storage and real-time display, thus completing the location process on the underground personnel. In addition, the invention also discloses a corresponding automatic location device, and optimization schemes for the implementation of posture estimation on the location object and zero velocity correction processing. By the invention, personnel location with high accuracy and reliability can be achieved, and good application of Zigbee network in the coal mine environment can be given full play.