面向超宽带的巷道内掘进机定位算法研究  

Research on UWB Positioning Algorithm of Coalmine Boom-type Roadheader in Tunnel

作　　者：李之奇 纪英俊 张连浩 王赛男 LI Zhiqi;JI Yingjun;ZHANG Lianhao;WANG Sainan(Department of Information and Control Engineering,Shenyang Institute of Science and Technology,Shenyang 110167,China;School of Information Science and Engineering,Shenyang University of Technology,Shenyang 110870,China;School of Information Technology,Liaoning University,Shenyang 110036,China)

机构地区：[1]沈阳科技学院信息与控制工程系,沈阳110167 [2]沈阳工业大学信息科学与工程学院,沈阳110870 [3]辽宁大学信息学院,沈阳110036

出　　处：《自动化与仪表》2024年第5期147-151,共5页Automation & Instrumentation

基　　金：辽宁省教育厅基本科研项目(青年项目)扶持项目。

摘　　要：为提升煤矿综掘设备智能化和无人化水平,针对目前巷道内掘进多采用的激光指向法无法有效提供悬臂式掘进机自主导控和位姿参数的现状,以及由传感器同步偏移导致的定位精度降低和系统鲁棒性变差的问题,提出了一种基于超宽带(UWB)的正则化约束总体(RCTLS)最小二乘法和乘子交替方向法(ADMM)融合的掘进机到达时间差(TDOA)定位算法。根据UWB基站与安装在机身的标签距离信息,采用RCTLS与ADMM融合算法进行目标函数进行优化和多变量交替迭代,实现了掘进机机身关键节点定位。实验结果表明,当基站与标签测距误差较大时,算法定位精度和鲁棒性优于现有的几种TDOA定位方法。In order to improve the intelligent and unmanned level of coalmine tunneling equipment,aiming at the issue that the laser pointing method which is commonly adopted in tunnel cannot effectively provide self-dominant control and pose parameters of roadheader,and also the issue of decreased positioning accuracy and poor system robustness caused by sensor synchronization offset.An ultra-wideband TDOA positioning algorithm for boom-type roadheader based on regularized constrained total least squares and alternating direction method of multipliers is proposed.The RCTLS and ADMM fusion algorithm is used to optimize the function and multi-variable alternating iteration according to the ranging data between the UWB stations and tages,the key nodes positioning of the roadheader is realized.The experimental results show that when the ranging error is large,the positioning accuracy and robustness of the algorithm are better than those of several existing TDOA positioning methods.

关 键 词：超宽带 位姿感知 悬臂式掘进机 乘子交替方向法 

分 类 号：TD632[矿业工程—矿山机电]