井下巡检机器人实时高精度定位方法  

Real-time and High-precision Positioning Method of Underground Patrol Robot

作　　者：张晓莉[1] 王张哲 ZHANG Xiaoli;WANG Zhangzhe(School of Communication and Information Engineering,Xi’an University of Science and Technology,Xi’an,Shaanxi 710054,China)

机构地区：[1]西安科技大学通信与信息工程学院,陕西西安710054

出　　处：《矿业研究与开发》2021年第10期158-161,共4页Mining Research and Development

基　　金：国家自然科学青年基金项目(51774235);西安碑林区科技计划项目(GX1930)。

摘　　要：针对煤矿井下巷道内特殊的地质环境,提出一种组合捷联式惯性导航(SINS)系统和射频识别(RFID)修正技术的矿井组合导航定位系统,运用射频标签内部存储的实际位置信息对捷联惯性导航系统由于时间、距离积累造成的误差进行校准,并通过扩展卡尔曼滤波技术对数据进行融合,减少惯性导航累计误差,完成对巡检机器人的高精度定位研究。In view of the special geological environment in the underground roadway of coal mine, a mine integrated navigation positioning system combining strap-down inertial navigation system(SINS) and radio frequency identification(RFID) modified technology was proposed. The error caused by time and distance accumulation of the SINS was calibrated by the actual location information stored inside the radio frequency tag. The extended Kalman filter technology was used to fuse the data, so as to reduce the cumulative error of inertial navigation, and complete the high-precision positioning research of the patrol robot.

关 键 词：煤矿井下 捷联惯性导航系统 RFID 组合导航 高精度 

分 类 号：TD679[矿业工程—矿山机电]