基于惯性技术的端帮采煤机姿态测量仪设计

The Design of Attitude Determination Instrument for End Slope Coal Mining Machine Based on Inertial Technology

针对端帮采煤机特殊的机械构造及工作运动模式对自身姿态信息获取时效性和准确性以及无人自主化提出的更高要求,设计一种基于惯性解算方法的姿态测量设备。利用惯导系统中的水平加速度计敏感重力分量完成载体水平对准,根据加速度计敏感的采煤机运动状态实现载体静止状态的辨别,引入零速修正的闭环卡尔曼滤波完成惯导解算姿态及惯性器件偏差信息的修正。搭建基于DSP+FPGA的导航信息采集与处理平台并开展室内转台实验和户外模拟车载实验,结果表明:采用零速修正的闭环卡尔曼组合方法可有效准确地完成载体姿态信息的自主求取。

According to the special mechanical structure,motion work mode and the requirement of timing and accuracy for un-manned attitude determination of the end slope coal mining. The attitude determined machine based on inertial resolution was designedin this paper. The level alignment with gravity sensed by accelerometers was carried out. The state identification for vehicle could bedetected by sensationed of coal cutter motion state based on the inertial navigation system. The zero detected closed-loop Kalman filterwas introduced to revise the inertial bias and attitude errors. Turntable and mobile vehicle experiments were carried out based on datacollection and processing platform with DSP and FPGA. Experiment results show that,the zero detected closed loop Kalman filter couldbe used to finish the attitude detection effectively and accurately.