Roadheader positioning method combining total station and strapdown inertial navigation system
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摘要: 针对基于全站仪的掘进机定位方法因井下粉尘过大等导致光路被遮挡而无法进行定位、基于捷联惯导的掘进机定位方法累计误差随时间推移逐渐增大的问题，提出一种掘进机全站仪与捷联惯导组合定位方法。首先，采用全站仪测量掘进机位置参数，采用捷联惯导测量掘进机位姿参数并进行解算；然后，将捷联惯导测量的掘进机所在位置经纬度转换为西安80坐标系下的坐标值，实现与全站仪测量坐标系的统一；最后，采用卡尔曼滤波方法将全站仪与捷联惯导测量数据进行融合，获取掘进机位姿数据。试验结果表明该方法具有较高的定位精度：x方向的定位误差最大值为0.029 1 m，最小值为0.010 0 m，平均值为0.019 93 m；y方向的定位误差最大值为0.029 5 m，最小值为0.011 0 m，平均值为0.018 26 m。Abstract: In order to solve the problems that roadheader positioning method based on total station could not locate because light path could be blocked due to excessive dust in coal mine underground and cumulative error of the method based on strapdown inertial navigation system(SINS) increased gradually with time, a roadheader positioning method combining total station and SINS was proposed. Firstly, total station is used to measure position parameters of roadheader, and SINS is used to measure and calculate position and posture parameters. Then, longitude and latitude of roadheader position measured by SINS are converted into coordinate values under Xi'an 80 coordinate system, so as to realize unification with total station measurement coordinate system. Finally, Kalman filtering method is used to fuse measured data of total station and SINS, so as to obtain position and attitude data of roadheader. The experimental results show that the method has high poisoning precision: in x direction, the maximum positioning error is 0.029 1 m, the minimum error is 0.010 0 m, and the average error is 0.019 93 m; in y direction, the maximum positioning error is 0.029 5 m, the minimum error is 0.011 0 m, and the average error is 0.018 26 m.
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期刊类型引用(3)
1. 陈华颖，杜志刚，宋兴家. 矿用综合调度管控平台设计. 工矿自动化. 2022(08): 122-126 . 
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2. 李小良，韩国庆，崔国生，郭志伟，杨雯喆. 基于多源多维联动功能的井下智能扩播平台的研究. 煤炭与化工. 2022(10): 71-73 . 百度学术
3. 王晓明. 船用自动化控制系统软件测试的设计研究. 舰船科学技术. 2020(02): 181-183 . 百度学术
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