摘要
针对基于全站仪的掘进机定位方法因井下粉尘过大等导致光路被遮挡而无法进行定位、基于捷联惯导的掘进机定位方法累计误差随时间推移逐渐增大的问题,提出一种掘进机全站仪与捷联惯导组合定位方法。首先,采用全站仪测量掘进机位置参数,采用捷联惯导测量掘进机位姿参数并进行解算;然后,将捷联惯导测量的掘进机所在位置经纬度转换为西安80坐标系下的坐标值,实现与全站仪测量坐标系的统一;最后,采用卡尔曼滤波方法将全站仪与捷联惯导测量数据进行融合,获取掘进机位姿数据。试验结果表明该方法具有较高的定位精度:x方向的定位误差最大值为0.0291 m,最小值为0.0100 m,平均值为0.01993 m;y方向的定位误差最大值为0.0295 m,最小值为0.0110 m,平均值为0.01826 m。
In order to solve the problems that roadheader positioning method based on total station could not locate because light path could be blocked due to excessive dust in coal mine underground and cumulative error of the method based on strapdown inertial navigation system(SINS)increased gradually with time,a roadheader positioning method combining total station and SINS was proposed.Firstly,total station is used to measure position parameters of roadheader,and SINS is used to measure and calculate position and posture parameters.Then,longitude and latitude of roadheader position measured by SINS are converted into coordinate values under Xi'an 80 coordinate system,so as to realize unification with total station measurement coordinate system.Finally,Kalman filtering method is used to fuse measured data of total station and SINS,so as to obtain position and attitude data of roadheader.The experimental results show that the method has high poisoning precision:in x direction,the maximum positioning error is 0.0291 m,the minimum error is 0.0100 m,and the average error is 0.01993 m;in y direction,the maximum positioning error is 0.0295 m,the minimum error is 0.0110 m,and the average error is 0.01826 m.
作者
张旭辉
刘博兴
张超
杨文娟
赵建勋
ZHANG Xuhui;LIU Boxing;ZHANG Chao;YANG Wenjuan;ZHAO Jianxun(College of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China;Shannxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi'an 710054, China)
出处
《工矿自动化》
北大核心
2020年第9期1-7,共7页
Journal Of Mine Automation
基金
国家自然科学基金资助项目(51974228)
陕西省创新能力支撑计划项目(2018TD-032)
陕西省重点研发计划项目(2018ZDCXL-GY-06-04)。
关键词
智能掘进机
掘进机定位
掘进机位姿检测
位姿解算
全站仪
捷联惯导
intelligent roadheader
roadheader poisoning
position and posture detection of roadheader
position and posture calculation
total station
strapdown inertial navigation system
