关键词：井下巷道；U W B定位算法；T O A;T D O A;T a y l o r算法 中图分类号：T D76 文献标志码：A文章编号：1008 - 8725(2022)05 - 168 -04 UWB Positioning Algorithm Based on Joint TOA and TDOA Estimation in Downhole Roadway QIAO Xin, KONG Bing (School of Electronic Engineering,...