基于激光雷达与惯导的掘进机融合定位方法
Combined localization method of roadheaders based on lidars and inertial navigation
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摘要: 煤矿掘进机精准定位是智能掘进的基础，而恶劣的作业环境导致单一定位方法的机身位姿测量精度低、稳定性差。为实现掘进机精准定位，首先，以悬挂在巷道顶部的球靶的中心为巷道坐标系原点，结合球靶点云提取和坐标变换方法构建雷达位置测量系统以获得融合定位基准；其次，利用惯导积分得到掘进机的位置和姿态信息；然后，基于误差状态卡尔曼滤波融合雷达和惯导输出的位置坐标并校正惯导的累积误差；最后，在 EBZ200S 掘进机上开展试验验证。结果表明：不同位置和姿态角下雷达定位系统的各轴平均位置误差小于 5cm；在掘进机运动工况下，融合系统的三轴联合平均误差为 5.8cm，相比雷达系统提升了 12.1%。实验结果验证了所提方法的可行性，满足煤矿中掘进机定位需求。Abstract: Precise localization of roadheaders is essential for intelligent tunneling. However, the harsh operating environment results in low accuracy and poor stability when using a single locating method to measure the machine's position and orientation. To achieve accurate roadheader localization, the following approach is proposed: First, the center of a spherical target suspended from the tunnel roof is set as the origin of the tunnel coordinate system. A lidar measurement system is developed by combining a point cloud extraction algorithm and coordinate transformation techniques, providing a multi-sensor combined positioning reference. Next, fiber-optic inertial navigation is used to continuously integrate real-time data, enabling the dynamic localization of the roadheader position and orientation. Furthermore, the error-state Kalman filter algorithm and a first-order Gaussian-Markov process efficiently fuse the lidar and inertial navigation data to correct accumulated errors in the inertial navigation system. Finally, an experimental validation was conducted by deploying the integrated positioning system onto the EBZ200S roadheader. The results demonstrate that the lidar localization system achieves an average position error of less than 5 cm across all axes, regardless of the roadheader position or orientation. Under dynamic operating conditions, the combined system reduces the three-axis combined average error to 5.8 cm, improving positioning accuracy by 12.1% compared to the lidar system alone. These experimental results validate the feasibility of the proposed method and system, meeting the localization requirements for roadheaders in coal mines.
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