基于iGPS的煤巷狭长空间中掘进机绝对定位精度研究

Research on absolute positioning accuracy of roadheader based on indoor global positioning system in narrow and long coal tunnel

为解决目前掘进机定位方法中存在的非坐标化测量、自动化程度低、易被障碍物遮挡等问题,提出一种基于室内定位系统的掘进机定位方法。该方法将激光接收器安装在掘进机机身固定位置处,通过测量激光接收器在发射站坐标系下的三维坐标,实现对掘进机的绝对定位。基于随机误差建模理论推导双发射站坐标测量的误差传导公式;针对目前室内定位系统绝对测量精度检测方法在狭长空间应用中的局限性,结合测量精度理论分析结果,提出一种适用于狭长空间的绝对测量精度检测方法。实验数据表明,双发射站测量系统在1.2m间距下,发射站与掘进机相距17m时Y轴定位精度优于10cm,X、Z轴定位精度优于2cm。

In order to solve the problems of uncoordinate measurement, low-level automation and easy to be occluded by obstacle in current roadheader positioning method, a positioning method of roadheader based on Indoor Global Positioning System （iGPS） is put forward. In this method, a laser receiver is installed on the fixed position of the body of the roadheader; through measuring the 3D coordinates of the laser receiverin the laser transmitter coordinate measurement system, the absolute positioning of the roadheader is realized. The error propagation formula of 2-transmitter coordinate measurement system is deduced based on random error modeling theory. Aimingatthe limitation of the absolute measurement accuracy test method for current Indoor Global Positioning System in narrow and long space application, combined with measurement accuracy theoretical analysis result, an absolute measurement accuracy test method suitable for narrow and long tunnel space is proposed. Experiment data indicate thatwhen the distance between the 2 transmitters is 1.2 m, the distance between the laser transmitters and roadheader is 17 m, the positioning accuracy along Y-axis is better than 10 cm, the positioning accuraciesalong X-axis and Z-axis are better than 2 cm.