采煤机捷联惯导系统杆臂效应误差补偿方法研究

Research on lever arm effect error compensation method for strap-down inertial navigation system of shearer

针对杆臂效应误差力学补偿方法无法实时求出角加速度信息的问题,在分析采煤机捷联惯导定位系统杆臂效应产生原因的基础上,提出了一种改进的杆臂效应误差补偿方法。该方法利用导航坐标系下不同时刻重力加速度分量相同的原理求出杆臂长度;然后利用角速度求出载体坐标系相对于导航坐标系的角加速度;最后通过杆臂效应误差公式求出测量加速度的误差,从而对加速度输出进行补偿。仿真结果表明,该补偿方法能够有效提高采煤机捷联惯导定位系统的精度,能有效补偿采煤机的位置误差,消除累积误差的影响,相对于补偿前采煤机x方向和y方向的定位精度分别提高了5.1%和23.6%。

In view of problem that existing mechanical compensation methods of lever arm effect can't get angular acceleration information in real time,an improved method of lever arm effect error compensation was proposed on the basis of analyzing cause of lever arm effect on strap-down inertial navigation positioning system of shearer.The method uses same component of the gravity acceleration information at different moments of navigation coordinate system to obtain length of lever arm.Then,it adopts the angular velocity to determine the angular acceleration of the carrier coordinate system with respect to the navigation coordinate system.Finally,it uses lever effect error equation to calculate the error of measured acceleration to compensate the output acceleration.The simulation results show that the error compensation method can improve precision of the strap-down inertial navigation positioning system of shearer,and compensate position error of shearer effectively to remove cumulative error.Compared with the uncompensated methods,the positioning accuracy of the shearer in x direction and y direction improves 5.1% and 23.6% respectively.