巷道掘进机多传感融合定位系统及试验研究  

Multi-sensor Fusion Positioning System and Experimental Study of Roadheader

作　　者：刘送永[1] 崔玉明 孟德远[1] 顾聪聪 李洪盛 江红祥[1,3] LIU Songyong;CUI Yuming;MENG Deyuan;GU Congcong;LI Hongsheng;JIANG Hongxiang(School of Mechatronic Engineering,China University of Mining and Technology Xuzhou,221116,China;School of Mechatronic Engineering,Jiangsu Normal University Xuzhou,221116,China;Jiangsu Province and Education Ministry Co-sponsored Collaborative Innovation Center of Intelligent Mining Equipment Xuzhou,221008,China)

机构地区：[1]中国矿业大学机电工程学院,徐州221116 [2]江苏师范大学机电工程学院,徐州221116 [3]江苏省矿山智能采掘装备协同创新中心,徐州221008

出　　处：《振动．测试与诊断》2023年第3期476-484,618,共10页Journal of Vibration,Measurement & Diagnosis

基　　金：江苏省杰出青年基金资助项目(BK20211531);江苏省高等学校基础科学(自然科学)研究资助项目(22KJB440004);徐州市重点研发计划资助项目(KC22404);国家自然科学基金面上资助项目(51975573);江苏师范大学博士学位教师科研支持资助项目(22XFRS011)。

摘　　要：煤矿巷道掘进机的自主精确定位是煤矿掘进智能化发展的基础,而复杂的掘进工艺和恶劣的掘进环境使得掘进机定位存在自主性不足、精度低以及易受环境干扰等问题。为实现巷道掘进机自主精确定位,首先,基于扩展卡尔曼滤波构建了里程计辅助惯性定位系统以约束惯性定位的误差发散;其次,结合掘进机施工工艺提出柔性零速校正方法,进一步提升掘进机惯性定位精度;然后,基于误差状态卡尔曼滤波和多状态约束模型实现了惯性、视觉和里程定位的高效融合;最后,搭建了掘进机在暗环境下自主定位的样机试验系统。实验结果表明:所提柔性零速校正方法可以提升掘进机定位精度约21.64%;所提掘进机多传感融合定位系统三轴定位误差分别可达到横向0.13 m以内、前向0.17 m以内、天向0.02 m以内,相比独立惯性和视觉系统的定位精度分别提升49.62%和57.71%。实验结果验证了所提方法与系统的可行性与有效性,满足煤矿规程中巷道掘进机定位需求。The autonomous and accurate positioning of roadheader is the foundation of intelligent development of coal mine roadway excavation.However,the complicated tunneling technology and harsh tunneling environment make the positioning of roadheader faces problems such as insufficient autonomy,low accuracy and poor immunity to disturbance.In order to realize the autonomous and accurate positioning of roadheader,an odometer-aided iner-tial positioning system is constructed based on extended Kalman filter to restrain the error divergence of pure iner-tial positioning.Combined with the construction technology of roadheader,a flexible zero velocity updating meth-od is proposed to further improve the inertial positioning accuracy of roadheader.The efficient integration of iner-tia,vision and mileage positioning is realized based on error state Kalman filter and multi-state constraint model.A prototype test system of roadheader in dark environment is also built.The experimental results show that the pro-posed flexible zero velocity updating method can improve the pure inertial positioning accuracy by 21.64%.The three-axis positioning errors of the proposed multi-sensor fusion positioning system of roadheader are within 0.13 meters of lateral positioning error,0.17 meters of forward positioning error and 0.02 meters of upwards positioning error,which improves by 49.62%and 57.71%compared with the independent inertial and visual systems,respec-tively.The experimental results verify the feasibility and effectiveness of the proposed method and system,and the positioning accuracy of the proposed system meets the requirements of roadway excavation in coal mine.

关 键 词：自主定位 惯性导航 多状态约束 视惯性融合 

分 类 号：TH89[机械工程—仪器科学与技术] TP271.4[机械工程—精密仪器及机械]