基于多传感器信息融合的地下自主铲运机的定位技术  

Location Technology of Underground Autonomous Scraper Based on Multi-sensor Information Fusion

作　　者：迟洪鹏[1] 战凯[1,2] 郭鑫[2] 

机构地区：[1]北京科技大学,北京100083 [2]北京矿冶研究总院,北京100044

出　　处：《有色金属》2009年第4期148-152,共5页Nonferrous Metals

基　　金：国家高技术研究发展计划"863"项目(2006AA06Z137)

摘　　要：分析自主车辆的定位技术及多传感器信息融合的模型。通过对地下自主铲运机后车体和传感器(航向陀螺仪、激光测距仪)的建模,采用多传感器信息融合的卡尔曼滤波算法,将航向陀螺仪和激光测距仪采集的信息融合后,对铲运机的航向角进行确定。综合应用多传感器信息融合技术可以有效提高铲运机的定位精度。The location technology of autonomous vehicles and the model of multi-sensor information fusion are analyzed.The path angle of scraper is determined by model establishment for underground autonomous scraper back body and the sensors（directional gyroscope,laser range finder）,fuses the information collected by directional gyroscope and laser range finder by using Kalman filtering algorithm of multi-sensor information fusion.Adopting multi-sensor information fusion system can effectively improve the location accuracy of scraper.

关 键 词：采矿工程 铲运机 信息融合 多传感器 定位 卡尔曼滤波 

分 类 号：TD422.4[矿业工程—矿山机电]