基于UWB系统的采煤工作面端头采煤机自主定位方法研究  被引量:7

Research on the shearer autonomous localization method based on UWB system at the end of coal mining working face

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作  者:曹波 王世博[2] 鲁程 Cao Bo;Wang Shibo;Lu Cheng(School of Mechanic Engineering Anhui Institute of Science and Technology,Chuzhou 233100,China;School of Mechanical and Electrical Engineering,China University of Mining and Technology,Xuzhou 221116,China)

机构地区:[1]安徽科技学院机械工程学院,滁州233100 [2]中国矿业大学机电工程学院,徐州221116

出  处:《仪器仪表学报》2022年第10期108-117,共10页Chinese Journal of Scientific Instrument

基  金:国家自然科学基金联合基金重点项目(U1610251);引进人才项目(JXWK202201);技术研发项目(880798,880852)资助。

摘  要:采煤机自主定位装置的长期定位精度是煤矿智能开采的关键。针对当前采煤机定位精度难以满足自动开采的需求,提出了采煤工作面端头自动校准惯性导航定位系统的方法,构建了基于UWB系统的井下局部定位系统,对采煤机位置进行修正纠偏,能实现采煤机长期循环自主定位的策略。考虑UWB系统在非视距(NLOS)环境下的定位精度较低,提出了基于不等式约束的平方根无迹卡尔曼滤波(CSRUKF)定位算法;为了进一步消减NLOS误差的干扰,提出了基于考虑运动速度的抗差泰勒级数(VRTS)算法对定位结果进行优化,提升最终的定位精度。以UWB定位系统和移动平台为基础,开展了模拟端头定位的实验。实验结果表明,CSRUKF-VRTS方法能够减小定位误差,提高NLOS环境下的定位精度,x轴、y轴和z轴的平均误差分别由0.332、0.404和0.306 m降低到0.266、0.212和0.159 m,对应的平均精度分别提升了17.4%、47.5%和48.1%。所提的采煤工作面端头循环定位策略为采煤机实现长期自主定位提供新的思路,为非视距环境下的定位提供参考。The long-term positioning accuracy of shearer independent positioning device is the key to intelligent coal mining.However,the state-of-the-art positioning accuracy of shearer is difficult to meet the demand of automatic mining.This article puts forward the coal mine working face end automatic calibration of inertial navigation positioning system,constructs the underground local positioning system based on UWB system,and calibrates the shearer position which can achieve the long-term autonomous cycle positioning of shearer.Considering the low positioning accuracy of the UWB system in the non-line of sight(NLOS)environment,the constrained square root unscented Kalman filter(CSRUKF)positioning algorithm is proposed.To further reduce the interference of NLOS error,the positioning results are optimized based on the velocity robust Taylor series(VRTS)algorithm with consideration of the motion speed to improve the final positioning accuracy.Based on the UWB positioning system and mobile platform,the simulated terminal positioning is conducted.Experimental results show that the CSRUKF-VRTS method is able to reduce the localization error and improve the positioning accuracy in the NLOS environment.The mean error of the x,y and z-axis is reduced from 0.332,0.404 and 0.306 m to 0.266,0.212 and 0.159 m,respectively.The corresponding average accuracy is improved by 17.4%,47.5%,and 48.1%,respectively.The proposed cyclic positioning strategy of coalmine working face end provides a novel idea for the long-term independent positioning and a reference for the positioning of NLOS environment.

关 键 词:采煤机 自主定位 超宽带 约束的平方根 无迹卡尔曼滤波 采煤工作面 

分 类 号:TH701[机械工程—仪器科学与技术] TD421[机械工程—精密仪器及机械]

 

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