基于惯性导航和里程仪的煤矿采掘设备定位  

Positioning of coal mining equipments based on inertial navigation and odometer

作　　者：张守祥[1] 李森 宋来亮[3] ZHANG Shouxiang;LI Sen;SONG Lailiang(School of Electronic and Information Engineering,Shandong University of Business and Technology,Yantai 264005,China;Beijing Tiandi-Marco Electro-Hydraulic Control System Co.,Ltd., Beijing 100013,China;School of Instrumentation Science and Opto-electronics Engineering, Beihang University,Beijing 100191,China)

机构地区：[1]山东工商学院信息与电子工程学院,山东烟台264005 [2]北京天地玛珂电液控制系统有限公司,北京100013 [3]北京航空航天大学仪器科学与光电工程学院,北京100191

出　　处：《工矿自动化》2018年第5期52-57,共6页Journal Of Mine Automation

基　　金：国家重点研发计划项目(2017YFC0804300)

摘　　要：分析了国内外煤矿惯性导航技术的研究和应用情况,指出惯性级光纤捷联惯导技术适用于煤矿采掘设备定位;将惯性导航和里程仪相结合进行协同定位和导航,利用里程信息对惯性导航测量数据进行校正,以提高定位导航精度;给出了惯性导航动态初始对准方法,惯性导航与里程仪协同定位具体方法,以及用于误差估计、修正和补偿的卡尔曼滤波方程。实验结果表明,采用惯性导航与里程仪协同定位技术后,工作面直线度测量最大误差为90mm、平均误差为60mm,高程测量误差为20mm,符合工作面直线度测量精度要求。Research and application of inertial navigation technology in coal mines at home and abroad was analyzed,and the point was proposed that inertial-level strapdown fiber inertial navigation technology is suitable for positioning of coal mining equipment.Inertial navigation and odometer are combined to perform co-location and navigation,and mileage information is used to correct inertial navigation measurement data to improve precision of positioning and navigation.Method of dynamic initial alignment of inertial navigation,specific method of inertial navigation and odometer coordinate positioning,and Kalman filter equation used for error estimation,correction and compensation were given.Experimental results show that the maximum error of straightness measurement of working surface is 90 mm,the average error is 60 mm,and height measurement error is 20 mm after adopting the inertial navigation and odometer coordinate positioning technology,which meets accuracy require of straightness measurement of working face.

关 键 词：煤矿采掘设备 惯性导航 里程仪 协同定位 组合导航 光纤陀螺 直线度测量 

分 类 号：TD632[矿业工程—矿山机电]