煤矿救灾机器人超声波和惯性导航技术  

Ultrasonic and Inertial Navigation Technology of Coal Mine Rescue Robot

作　　者：温良 叶锦娇 张立亚 

机构地区：[1]煤炭科学技术研究院有限公司,北京100013 [2]煤矿应急避险技术装备工程研究中心,北京100013 [3]北京市煤矿安全工程技术研究中心,北京100013

出　　处：《煤矿安全》2017年第6期127-130,共4页Safety in Coal Mines

摘　　要：针对煤矿救灾机器人导航系统的导航精度低的问题,结合煤矿井下非结构化环境的特点,提出一种适于煤矿井下灾后环境的超声波导航和惯性传感器的导航方法,并利用粒子滤波技术进行算法设计。结果表明,基于超声波和惯性传感器融合的导航性能满足煤矿救灾机器人的导航需求,算法的收敛速度很快,提高了煤矿救灾机器人的导航性能和应急抢险能力。Aiming at the low precision of navigation system of coal mine rescue robot, combined with the characteristics of unstructured environment underground coal mine, the navigation method was proposed based on ultrasonic navigation and inertial sensors, which was suitable for the coal mine underground environment after disaster, and the algorithm was designed by using particle filtering techniques. The results showed that the navigation performance could meet the navigation requirement of coal mine rescue robot on account of the fusion of ultrasonic and inertial sensors, and the algorithm convergence speed was very fast. It improved the navigation performance and emergency rescue capability of coal mine rescue robot.

关 键 词：煤矿应急救援 机器人 超声波 惯性导航 粒子滤波 

分 类 号：TD679[矿业工程—矿山机电]