基于惯性/航迹推测的煤矿掘锚机组合导航方法  

Integrated Navigation Method of the Roadheader Based on Inertia and Dead Reckoning

作　　者：伦华江 徐枫 黄喆 许东旭 张晓日 LUN Hua-jiang;XU Feng;HUANG Zhe;XU Dong-xu;ZHANG Xiao-ri(Internet of Things Technology Application Research Institute,China Aerospace Science and Technology Corporation,Beijing 100094;Raising Measurement(Shanghai)Co.,Ltd,Shanghai 201300;School of Electronic Information and Automation,Tianjin University of Science and Technology,Tianjin 300222)

机构地区：[1]中国航天科技集团有限公司物联网技术应用研究院,北京100094 [2]力信测量(上海)有限公司,上海201300 [3]天津科技大学电子信息与自动化学院,天津300222

出　　处：《导航与控制》2021年第4期33-40,95,共9页Navigation and Control

基　　金：国家重点研发计划(编号:2019YFB2006100);天津市自然科学基金(编号:18JCYBJC88600);天津大学精密测试技术与仪器国家重点实验室开放课题(编号:pilab1905)。

摘　　要：掘锚机是煤炭生产过程中的重要装备,精确的导向测量能够使其安全、高效掘进。针对掘锚机作业时难以沿绝对直线掘进的问题,提出了一种基于捷联惯性导航+航位推测+刚体零位相结合的导航定位算法,利用捷联惯导系统的实时姿态测量值+里程计的位移测量值+全站仪初始状态标定的特征点空间坐标值,实现了掘锚机掘进时机头、机尾空间坐标及相对于掘进计划线水平/垂直偏差的高精度测量。实验结果表明:所提出的导航方法具有可靠性高、精度高及传感信息完备等特点,偏差测量精度为0.038%,满足掘锚机高精度导航定位需求。Roadheader is an important equipment in the coal production process.Accurate oriented measurement could make it safe and efficient.Aiming at the problem that it is difficult to drive along an absolute straight line when the roadheader is working,a navigation and position algorithm based on the combination of strapdown inertial navigation,dead reckoning and zero data is proposed in this paper.The method uses the real-time attitude measurement value of strapdown inertial navigation system(SINS),the displacement measurement value of the odometer and the space coordinate value of the characteristic point calibrated by the total station in the initial state to realize the space coordinate measurement of the roadheader head and tail during tunneling.It realizes the high-precision measurement of the horizontal/vertical deviation of the roadheader head and tail relative to the designed tunnel route.The experiment results show that the navigation method proposed in this paper has the characteristics of high reliability,high accuracy and complete sensing information.The deviation measurement accuracy is 0.038%,which meets the high-precision navigation requirements of the roadheader.

关 键 词：掘锚机 捷联惯性导航系统 航位推测 坐标测量 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]