基于多频连续波相位差测距的掘进机位姿识别方法  

Pose recognition method of roadheader based on multifrequency continuous-wave phase-difference ranging

作　　者：张晓光[1] 杨悦[1] 孙彦景[1] 李松[1] 田志坚 丁恩杰[1,3] ZHANG Xiaoguang;YANG Yue;SUN Yanjing;LI Song;TIAN Zhijian;DING Enjie(School of Information and Control Engineering,China University of Mining and Technology,Xuzhou 221116,China;XCMG Fire-fighting Safety Equipment Co.,Ltd.,Xuzhou 221004,China;Internet of Things (Perception Mine) Research Center,China University of Mining and Technology,Xuzhou 221008,China)

机构地区：[1]中国矿业大学信息与控制学院,江苏徐州221116 [2]徐工消防安全装备有限公司,江苏徐州221004 [3]中国矿业大学物联网(感知矿山)研究中心,江苏徐州221008

出　　处：《煤炭学报》2020年第6期2056-2064,共9页Journal of China Coal Society

基　　金：国家重点研发计划资助项目(2016YFC0802908);国家自然科学基金资助项目(51804304);徐州市科技资助项目(KC18068)。

摘　　要：随着矿山生产过程的日趋无人/少人化,采掘装备位姿识别技术对煤矿井下安全生产和机器协同工作具有重要意义。为了解决在空间受限的复杂掘进作业环境下,电磁波频繁反射和散射会造成密集多径和大相位误差问题,采用无源宽带谐波标签生成可利用的谐波信号,建立基于非线性二次谐波反向散射的抗干扰模型,通过上、下行链路的频率分集,抑制矿井密集多径干扰;通过基于距离的几何定位方法,提出连贯发射宽带多频连续波(Coherent Sending Broadband Multifrequency Continuous-Wave,CSMCW)相位差测距算法,来解决大相位误差条件下的测距、定位和识别的准确性难题;并以掘进机为例,研究了基于CSMCW相位差测距的无源掘进机位姿识别方法。为了验证上述理论和算法的可行性,设定了长×宽×高为105 m×4 m×3 m的掘进机仿真实验场景,分别对谐波标签抗干扰性能、CSMCW相位差测距和掘进机位姿识别效果进行了仿真测试。仿真结果表明:采用无源宽带谐波标签,与传统无源标签相比可以获得更大的信干比,具有较强的顽健性,能够有效抑制纳秒级密集多径干扰;与二次相差测距算法、参差频差测距算法相比,基于谐波反向散射抗干扰模型的CSMCW测距算法具有更强的鲁棒性,在低信噪比条件下定位测距可达到厘米级的分辨率,保证了掘进机位姿姿态角的识别;信噪比(SNR)=-5 dB、测量距离为100 m时,基于提出的多频连续波相位差测距的位姿识别方法得到掘进机航向角、俯仰角、横滚角最大误差精度约为2.3°,能够满足未来的应用要求。As the mine production process becomes increasingly unmanned/less humanization,the pose recognition technology of mining equipment is of great significance to the safe production of coal mine and machine cooperation.In order to solve the problems of dense multipath and large phase errors caused by the frequency reflection and scattering of electromagnetic waves in a complex driving environment with limited space,an anti-interference model based on nonlinear second-harmonic backscattering is established using the passive broadband harmonic tag which is used to generate an available harmonic signal,realizing the frequency diversity of uplink and downlink to suppress dense multipath interference of the mine.Using the geometric positioning method based on distance,a Coherent Sending broadband Multifrequency Continuous-wave(CSMCW)phase difference ranging algorithm is proposed to solve the problems of accuracy in ranging,positioning and recognition under the condition of large phase error.Taking the roadheader as an example,the passive pose recognition method of a roadheader based on CSMCW phase difference ranging is studied.In order to verify the feasibility of the above theory and algorithm,a simulation experimental scene of a roadheader with a length,width,and height of 105 m×4 m×3 m was established,and the anti-interference performance of the harmonic tags,CSMCW phase difference ranging,and the pose recognition effect of the roadheader were simulated.Simulation results show that compared with traditional passive tags,using passive broadband harmonic tags can obtain a larger signal-to-interference ratio,which has stronger robustness and can effectively suppress nanosecond dense multipath interference.Compared with the quadratic phase difference ranging algorithm and the staggered frequency difference ranging algorithm,the CSMCW ranging algorithm based on the harmonic backscattering anti-interference model is more robust,and the positioning range can reach the centimeter resolution under the condition of low signal

关 键 词：位姿识别 多频连续波 谐波反向散射 相位差测距 

分 类 号：TN92[电子电信—通信与信息系统]