基于零速修正的掘进机惯性导航定位方法

Inertial navigation positioning method of roadheader based on zero-velocity update

针对掘进机定位采用光电导航存在环境适应性差、惯性导航存在长时定位精度低等问题,在分析掘进机运动特点的基础上,提出了一种基于零速修正的掘进机惯性导航定位方法。在较短的掘进机停车时间间隔内,利用二次曲线拟合惯性导航系统的速度误差曲线,经过积分得到位置误差曲线,从而修正惯性导航系统的位置测量值。试验结果表明,基于零速修正的掘进机惯性导航定位精度可达厘米级,定位误差波动范围小,定位累计误差随时间增加没有明显增大趋势,满足掘进机定位要求。

Aiming at problems of poor environmental adaptability of photoelectric navigation and low accuracy of long-term positioning of inertial navigation adopted in roadheader positioning, an inertial navigation positioning method of roadheader based on zero-velocity update was put forward based on analysis of movement characteristics of roadheader. In short stopping time interval of roadheader, velocity error curve of inertial navigation system is fitted by quadratic curve, and position error curve is obtained by integration, so as to correct position measurement value of inertial navigation system. The test results show that the inertial navigation positioning accuracy of roadheader based on zero-speed update can reach centimeter-level, fluctuation range of positioning error is small, and accumulated positioning error has no obvious increasing trend with the increase of time, which meets positioning requirements of roadheader.