面向掘进机的超宽带位姿检测系统精度分析  

Accuracy analysis of UWB pose detection system for roadheader

作　　者：符世琛 李一鸣[1] 宗凯[1] 张敏骏[1] 吴淼[1] 

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083

出　　处：《仪器仪表学报》2017年第8期1978-1987,共10页Chinese Journal of Scientific Instrument

基　　金：国家重点基础研究发展计划(973计划)(2014CB046306)项目资助

摘　　要：为实现悬臂式掘进机的无人化作业,提出了一种基于超宽带(UWB)测距技术的位姿检测方法;通过分析悬臂式掘进机工况环境及局域定位技术原理,设计了UWB位姿检测系统,该系统利用4个搭载UWB模块的移动基站机器人对机身节点进行测距,经过解算测距信息得到掘进机位姿参数;并开展了狭长封闭巷道中的UWB测距精度验证实验,仿真分析了基于直接解析法和基于Caffery算法的系统位姿精度。研究表明UWB模块在狭长封闭巷道中的测距精度可达2 cm,系统三轴定位精度在10~95 m的狭长封闭空间中从4 mm^3 cm呈线性增加,系统航向角、俯仰角、横滚角精度从0.2°~1.5°呈线性增加,满足悬臂式掘进机位姿检测精度要求,为掘进机自主巡航的实现提供了基础。In order to realize unmanned operation of boom-type roadheader, a pose detection method based on UWB ranging technique is proposed. Through analyzing the working conditions of roadheader and local positioning technology principle, a UWB pose detection system is designed. The system uses 4 mobile base station robots equipped with UWB modules to measure the distance from the fuselage nodes to base stations. After calculating the ranging information, the pose parameters of the roadheader are obtained; The UWB ranging accuracy verification experiments in a narrow and closed tunnel were carried out, and the system pose accuracies based on direct analysis algorithm and Caffery algorithm were simulated and analyzed. The study results show that the ranging accuracy of the UWB module can be less than 2 cm in the narrow-closed tunnel. The system three-axis positioning accuracy increases linearly from 4 mm to 3 cm in the 10 -95 m narrow-closed tunnel, and the accuracies of the heading angle, pitch angle and roll angle of the system increase linearly from 0.2° to 1.5°, which satisfies the pose detection accuracy requirement of boom-type roadheader and provides a basis for realizing the autonomous navigation of roadheader.

关 键 词：悬臂式掘进机 狭长封闭巷道 超宽带位姿检测 精度分析 

分 类 号：TD676[矿业工程—矿山机电] TH761.2[机械工程—仪器科学与技术]