基于掘进机位姿测量系统的自主标定方法误差分析  

Error analysis of autonomous calibration strategy based on roadheader attitude measurement system

作　　者：陈慎金 成龙[1] 王鹏江 李瑞[1] 刘丹 吴淼[1] CHEN Shenjin;CHENG Long;WANG Pengjiang;LI Rui;LIU Dan;WU Miao(School of Resource and Safety 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：《煤炭学报》2018年第9期2647-2652,共6页Journal of China Coal Society

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

摘　　要：围绕在狭长综掘巷道中掘进机位姿激光测量系统位姿参数高精度自动测量的问题,首先系统介绍了位姿测量系统,研究了位姿测量系统测站移站后高精度自动全站仪自主标定原理。依据激光测量原理及掘进机工作特点,构建了全站仪移站后全站仪设站点坐标与定位棱镜坐标测量误差数学平差模型,并通过Matlab进行了不同标定距离、不同测量距离对悬臂式掘进机位姿参数测量误差影响规律的仿真分析。分析结果表明:掘进方向的位姿误差比较大,掘进机姿态角误差均随测量距离和标定距离的增加而增加,且测量距离对姿态角误差影响更明显;姿态角的最大测量误差为航向角,测量误差为0. 015 7°。从而验证了激光导向系统自主标定的可行性,并由此提出了一种相对最优的自主标定策略。完全满足目前煤矿综掘工作面对悬臂式掘进机位姿测量精度的要求。In terms of the problems associated with the high precision automatic measurement of attitude and posture parameters of roadheader in narrow heading tunnel,the pose measurement system was firstly introduced systematically,and then the automatic calibration of high precision automatic total station was studied.According to the principle of laser measurement and the characteristics of boring machine,a mathematical adjustment model of total station coordinate and positioning prism coordinate measurement error was developed.The influence of different calibration distances and different measurement distances on the measurement error of pose parameters of cantilever roadheader was simulated by Matlab.The analysis results show that the error of heading direction is relatively large,and the error of attitude angle increases with the increase of measuring distance and calibration distance,and the influence of measuring distance on attitude angle error is more obvious;the maximum measurement error of the attitude angles of boom-type roadheader is the value of course angle,the measurement error is 0.015 7°.The feasibility of autonomous calibration of laser guided system was verified,and a relatively optimal autonomic calibration strategy was proposed,which fully satisfies the requirement accuracy of the attitude and position of roadheader in the current production of coal mine.

关 键 词：掘进机 位姿测量系统 自主标定 MATLAB 

分 类 号：TD421.5[矿业工程—矿山机电]