不同惯导间距对采煤机定位精度的影响研究

Research on the Effect of Different Inertial Guide Spacing on the Positioning Accuracy of Coal Mining Machine

为保证矿用采煤机快速准确定位,并精准地完成煤层的截割及其智能调高和调速等工作,采用多惯导冗余定位法,对比研究不同惯导间距对采煤机定位精度的影响。结果表明,经多惯导冗余算法处理后,三套惯导得到的采煤机定位精度都有所提升,在惯导间距是0.2 m时,球概率误差最小,增加至0.3 m后趋于稳定;且在惯导间距是0.2 m时,估计三角形所在平面法向量平均偏移角度也最小,采煤机的定位精度最高。

In order to ensure the fast and accurate positioning of the mining coal miner,and to accurately complete the cutting of coal seam and its intelligent height and speed adjustment,the multi-inertial guide redundancy positioning method is used to compare and study the influence of different inertial guide spacing on the positioning accuracy of the coal miner.The results show that the positioning accuracy of the coal miner obtained by the three sets of inertial guides is improved after the processing of the multi-inertial guide redundancy algorithm,and the ball probability error is the smallest when the inertial guide spacing is 0.2 m,and stabilizes after increasing to 0.3 m.Moreover,the average offset angle of the normal vector in the plane where the estimated triangle is located is also the smallest when the inertial guide spacing is 0.2 m,and the positioning accuracy of the coal miner is the highest.