基于捷联惯导的悬臂式掘进机位姿解算算法研究  

Research on position and pose calculation algorithm of boom-type roadheader based on strap-down inertial navigation

作　　者：郑伟雄 沈阳 马浚清 胡立同 符世琛 吴淼[1] ZHENG Wei-xiong;SHEN Yang;MA Jun-qing;HU Li-tong;FU Shi-chen;WU Miao(School of Mechanical Electronic and Information Engineering,China University of Mining and Technology(Beijing),Beijing 100083,China;Zaozhuang Mining(Group)Fucun Coal Industry Co.,Ltd.,Jining 277605,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 [2]枣庄矿业(集团)付村煤业有限公司,山东济宁277605

出　　处：《煤炭工程》2020年第9期170-176,共7页Coal Engineering

基　　金：国家自然科学基金面上资助项目(51874308);国家自然基金重点支持项目(U1610251);中国博士后科学基金(2019M660860)。

摘　　要：针对煤矿井下高煤尘、光线暗的恶劣环境中掘进机无法实现动态位姿检测的问题,提出了基于捷联惯导的悬臂式掘进机位姿检测方法并对其解算算法做了对比研究。捷联惯导是通过三轴陀螺仪和三轴加速度计实时测得掘进机的角速度和加速度,根据位姿解算算法动态输出掘进机的姿态和位置信息。位姿解算算法很大程度决定着姿态和位置的精度,因此结合掘进机实际掘进工艺的特点,围绕位姿解算算法的适用性和优劣性,对比了四元数和等效旋转矢量两种位姿解算算法,分析了姿态解算误差的影响因素。在有噪声正弦运动和模拟掘进机行走运动两种情况下进行仿真并搭建了利用小车循迹代替掘进机掘进的实验平台进行实验,结果表明,两种算法均能满足掘进机姿态角的解算精度要求,四元数法的姿态解算精度高于等效旋转矢量法;位置的解算误差较大且呈发散状态,这有待于进一步研究。As it is hard to obtain accurate position and posture information of boom-type roadheader in the high coal dust and dark environment of underground coal mines,a method using SINS(strap-down inertial navigation)was proposed and its calculation algorithm were compared.SINS measured the angular velocity and acceleration of the roadheader in real time by triaxial gyroscope and triaxial accelerometer,and dynamically output the attitude and position information of the roadheader based on the solution algorithm.The solution algorithm determines the accuracy of the attitude and position to a great extent.Therefore,we compared the algorithms of quaternion and equivalent rotation vector in the applicability and advantages,and analyzed the influencing factors of the pose solving error combining with the characteristics of the actual driving process of the roadheader.The simulation was carried out under the sinusoidal motion with noise condition and roadheader walking condition,and the experimental platform was set up using a mini-car track to simulate the tunneling trajectory.The results show that both algorithms can meet the accuracy requirements of the attitude angle of the roadheader,and quaternion algorithm is better than the equivalent rotation vector algorithm,but the position error is large and divergent which needs further study.

关 键 词：捷联惯导 掘进机位姿 四元数法 等效旋转矢量 

分 类 号：TD421.5[矿业工程—矿山机电]