组合导航定位系统研究  

Research of Combined Navigation and Orientation System

作　　者：王晶晶[1] 童敏明[1] 刘彬[1] 

机构地区：[1]中国矿业大学信息与电气工程学院,徐州221008

出　　处：《软件》2011年第5期82-84,96,共4页Software

基　　金：国家863计划重点项目:煤矿井下采掘装备遥控关键技术(2007AA06ZX146110)~~

摘　　要：掘进机是煤矿生产的主要机械装备之一,为使其高效、安全工作,满足人工化和智能化的发展趋势,设计了基于惯性导航系统和全站仪的悬臂式掘进机机身导航定位系统。本文将掘进机简化成两条履带,其它部件略去,建立掘进机机器人化数学模型。分别分析了基于全站仪和惯性导航系统的掘进机自动导航和定位技术的原理和特点,结合两者优点,将惯性导航系统和全站仪有机结合,介绍两系统相组合的巷道导航系统,并对组合系统在掘进机在使用中的导航和定位原理进行说明。The boom-type roadheader is one of the important machine equipment of colliery production.In order to make it more safety and high efficiency and to meet the development trend of artificialization and intelligent,we designed a navigation and orientation system based on inertial navigation system and electronic total station.In this paper,boom-type roadheader simplified into two crawlers to establish the mathematical model.This paper analyzed boom-type roadheader＇s navigation and orientation technology based on inertial navigation system and electronic total station respectively,combined inertial navigation system and electronic total station considering their advantages,introduced a tunnel guide system composed of inertial navigation system and electronic total station,and explained its application to boom-type roadheader.

关 键 词：智能控制 悬臂式掘进机 全站仪 惯性导航系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]