基于惯性导航技术的掘进机位姿测量系统研究

Research on Position and Orientation Measurement System of Heading Machine Based on Inertial Navigation Technology

为实现掘进机位姿无人化、高精度的自主测量功能,提出了基于惯性导航技术的掘进机位姿测量系统并对其可行性进行分析研究。根据掘进机实际工况,提出了掘进机空间位姿参数,建立了位姿测量系统的数学模型,应用MATLAB进行仿真分析研究,得出了掘进机空间位姿参数在不同掘进进尺及掘进时间情况下的变化规律。

For the realization of the unmanned machine position, high precision of detection function independently, is proposed based on the machine of the inertial navigation technology pose detection system and analyzes its feasibility study.A brief analysis of the current, the principles and characteristics of various machine pose detection methods, puts forward the machine space posture parameters, set up the mathematical model of inertial navigation system, the application of MATLAB simulation analysis and research, the machine space pose parameters is obtained under the condition of different excavation quantity and tunneling time change rule.