一种基于UKF的矿井智能体相对导航算法  

A Relative Navigation Algorithm for Mine Agents Based on Unscented Kalman Filter

作　　者：贾宝 孟福军[2,4] 侯岳 苏春耀[1,2,3] 李克昭 JIA Bao;MENG Fujun;HOU Yue;SU Chunyao;LI Kezhao(Henan Institute of Surveying and Mapping,8 Huanghe Road,Zhengzhou 450003,China;Key Laboratory of Mine Spatiotemporal Information and Ecological Restoration,MNR,Henan Polytechnic University,2001 Shiji Road,Jiaozuo 454003,China;Henan Science and Technology Innovation Center of Natural Resources(Research on Key Technologies of Beidou High Precision Positioning and Application),8 Huanghe Road,Zhengzhou 450003,China;College of Hydraulic and Architectural Engineering,Tarim University,1487 East-Tarim Road,Alar 843300,China)

机构地区：[1]河南省测绘院,郑州市450003 [2]河南理工大学自然资源部矿山时空信息与生态修复重点实验室,河南省焦作市454003 [3]河南省自然资源科技创新中心(北斗高精度定位与应用关键技术研究),郑州市450003 [4]塔里木大学水利与建筑工程学院,新疆维吾尔自治区阿拉尔市843300

出　　处：《大地测量与地球动力学》2024年第12期1299-1306,共8页Journal of Geodesy and Geodynamics

基　　金：国家重点研发计划(2016YFC0803103);国家自然科学基金(41202245,41001226,21767025);塔里木大学校长基金(TDZKQN201821);塔里木大学大学生创新创业训练计划(2023154,2024224)。

摘　　要：以对偶四元数为理论基础,引入非线性滤波UKF算法,构建矿井多智体视觉自主相对导航算法DQUKF,并建立适应矿井智能体外形特征及其工作环境的算法状态方程及观测方程,可对矿井智能体的相对位置、姿态进行动态估计及仿真。为验证和评价该算法的有效性,设计地面实物模拟实验场,结果表明,该算法能够提供较为精确的相对位姿信息,结论与仿真结果一致。To dynamically estimate and simulate the relative position and attitude of the mine intelligent body,we take the dual quaternion as the theoretical basis,introduce the nonlinear filtering UKF algorithm,study and construct the mine multi-intelligent body visual autonomous relative navigation algorithm DQUKF,and establish the algorithm state equation and observation equation adapted to the shape characteristics of the mine intelligent body and its working environment.To verify and evaluate the effectiveness of this paper’s algorithm,we design a ground physical simulation experimental field,and the results show that this paper’s method can provide more accurate relative position and attitude information,and the conclusions are consistent with the simulation results.

关 键 词：矿井智能体 视觉相对导航 UKF 对偶四元数 动态估计 

分 类 号：P228[天文地球—大地测量学与测量工程]