基于Chan算法的掘进机定位误差分析  

Analysis of Positioning Error of Roadheader Based on Chan Algorithm

作　　者：成龙[1] 符世琛 王鹏江 陈慎金 刘超[1] 宗凯[1] CHENG Long, FU Shi-chen, WANG Peng-jiang, CHEN Shen-jin, LIU Chao, ZONG Kai(School of Mechanical Electronic and Information Engineering, China University of Mining and Technology （Beijing）, Beijing 100083, China)

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：《煤炭技术》2018年第6期266-268,共3页Coal Technology

基　　金：国家重点基础研究发展计划(973计划)项目(2014CB046300)

摘　　要：为了研究掘进机的定位误差,利用Chan定位算法解算出其机身定位点的坐标估计值。仿真了定位点的空间分布,然后分别对3个坐标轴方向的定位误差进行分析,得出了误差分布规律,为掘进机的位姿参数检测建立了测量基础。In order to study the positioning error of roadheader, the coordinate estimation of fuselage positioning point is calculated by using the Chan localization algorithm. The spatial distribution of positioning point was simulated, then the positioning errors of the three axes was analyzed respectively to obtain the error distribution law, which provides measurement basis for the pose parameters of roadheader.

关 键 词：掘进机 CHAN算法 定位误差 

分 类 号：TD421.5[矿业工程—矿山机电]