基于捷联惯性测量的井下车辆高精度导航系统  

High-precision navigation system of the mine vehicle in coal pit based on strapdown inertial measure

作　　者：李增科[1] 高井祥[1] 王坚[1] 

机构地区：[1]中国矿业大学国土环境与灾害监测国家测绘局重点实验室江苏省资源环境信息工程重点实验室,江苏徐州221008

出　　处：《中国矿业大学学报》2013年第3期483-488,共6页Journal of China University of Mining & Technology

基　　金：国家自然科学青年基金项目(40904004);国家自然科学基金项目(41074010);中澳科技合作特别基金项目(50810076);江苏省普通高校研究生科研创新计划项目(CXZZ12_0939);江苏高校优势学科建设工程项目(SZBF2011-6-B35)

摘　　要：根据井下车辆具有匀速运动特点,对捷联惯性导航系统(INS)观测的加速度和角速度分别建立模型.小波变化提取加速度观测值和改正数的趋势项,研究两者的相关性,构建带有消噪因子的消噪模型以适应不同路况.分析角速度改正数,对其建立分段线性模型.综合惯性导航系统力学编排算法,提出了井下车辆高精度导航系统.模拟山西平朔矿区斜井煤矿车辆行驶轨迹,人为加入各项误差模拟导航级别惯性测量单元,将加入常数漂移的传统消噪方法作为对比项.实验表明:提出的模型明显优于传统消噪方法,对提高井下INS导航精度有很好效果.利用INS实测数据做进一步验证,实验结果和模拟数据结果相同.According to the characteristics of uniform movement for the mine vehicles,the models were established for acceleration and angular speed which were observed by the strapdown inertial navigation system（INS）.The observing value of acceleration and trend term of correction were extracted from the wavelet change,and their correlation was also researched in this study.The models with denoised factor were built in order to meet the need of different road conditions.Piecewise linear model was established after analyzing the correction of rotational speed.Combining with INS mechanization algorithm,high-precision navigation system of the mine vehicle underground was proposed,and simulated the vehicle travel trajectory in Pingshuo Mining Area,Shanxi Province.In addition,adding various errors was to imitate navigation inertial measurement unit.Classical denoised method was taken as the constant term.The results of the experiment indicate that the model proposed is much better than classical method,which has excellent effects in increasing INS navigation precision underground.In order to verify the new model further,experiment of actual measurement is made and the result is the same with simulate data.

关 键 词：惯性导航系统 小波变换 相关性 消噪因子 

分 类 号：TD52[矿业工程—矿山机电]