Positioning algorithm of mine-used monorail crane locomotive based on strapdown inertial navigatio
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摘要: 针对煤矿井下单轨吊机车常用定位方法存在定位精度低和定位成本高的问题，提出了一种基于捷联惯性导航的矿用单轨吊机车定位算法。采用九轴惯性测量单元(IMU)采集机车加速度数据，并对加速度数据进行限幅滤波和去零偏等预处理，解算并输出姿态角和加速度值；采用方向余弦矩阵法滤除加速度数据中所含的重力分量，消除该分量对数据的干扰；利用加速度变化率阈值法和零速修正法修正稳态误差，使稳态加速度和速度更接近真实值；采用Lagrange插值多项式测距法测量单轨吊机车的行驶距离，并利用测距结果定时修正法来补偿测距误差，根据机车的起点和行驶距离实现定位。实验结果表明，当车辆行程为30.8 m时，测距误差基本在0.65 m以内，可以达到高精度、低成本的定位要求。Abstract: A positioning algorithm of mine-used monorail crane locomotive based on strapdown inertial navigation is proposed for the problems of low positioning accuracy and high positioning cost of common positioning methods for underground monorail crane locomotives in coal mines. Nine-axis inertial measurement unit (IMU) is used to collect the acceleration data of the locomotive, and the acceleration data is pre-processed by limiting filtering and zero offset removal to calculate and output the attitude angle and acceleration values. The direction cosine matrix method is applied to filter out the gravity component contained in the acceleration data so as to eliminate the interference of this component to the data. The acceleration rate of change threshold method and zero speed correction method are used to correct the steady-state error so that the steady-state acceleration and speed are closer to the real value. The Lagrange interpolation polynomial distance measurement method is applied to measure the driving distance of the monorail crane locomotive, and the distance measurement result timing correction method is used to compensate the distance measurement error. Therefore, the positioning can be obtained according to the starting point and driving distance of the locomotive. The experimental results show that when the driving distance is 30.8 m, the ranging error is basically within 0.65 m, which can meet the requirements of high-precision and low-cost positioning.
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期刊类型引用(7)
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