基于惯导/全站仪组合的掘进机自主定位定向方法

Automatic positioning and orientation method of roadheader based on combination of ins and digital total station

针对目前煤矿井下掘进机定位定向不准确、自动化程度低等问题,提出了一种基于光纤惯导与数字全站仪组合的掘进机自主定位定向方法。通过分析光纤惯导与数字全站仪的组合定位定向原理,建立了光纤惯导和数字全站仪的误差模型和组合定位定向系统的状态方程和量测方程,运用卡尔曼滤波器对组合定位定向系统的状态量与量测量进行预测估计,并考虑数字全站仪的定位精度对融合效果的影响,得到掘进机自主定位定向的融合信息。搭建了掘进机定位定向试验平台,通过运用惯导与全站仪组合的自主定位定向方法对模拟在巷道中线行走的掘进机进行了定位定向试验。试验结果表明:根据数字全站仪定位精度确定量测噪声方差R时,组合定位定向精度最高,其中x轴方向定位最大误差为0.03 m,y轴方向定位最大误差为0.02 m,航向角、俯仰角和横滚角定向误差小于0.005°,能够满足煤矿井下掘进机定位定向技术要求,解决了光纤惯导姿态角累计误差和位置发散问题,实现了掘进机的精确自主定位定向,为煤矿井下掘进工作面的智能化发展奠定良好的基础。

Aiming at the problems of inaccurate positioning and orientation of the roadheader and low degree of automation, a method for autonomous positioning and orientation of the roadheader based on the combination of fiber optic inertial navigation and digital total station is proposed in the paper. By analyzing the principle of combined positioning and orientation of fiber optic strapdown inertial navigation and digital total station, the error model of fiber optic strapdown inertial navigation and digital total station and the state equation and measurement equation of combined positioning and orientation system are established, and Kalman filter is applied. The device predicts and estimates the state quantity and quantity measurement of the combined positioning and orientation system, and considers the influence of the positioning accuracy of the digital total station on the fusion effect, and obtains the fusion information of the autonomous positioning and orientation of the roadheader. An experimental platform for the positioning and orientation of the boring machine was built, and the autonomous positioning and orienting method combining the inertial navigation and the total station was experimentally verified by the boring machine simulating the lane centerline walking. The experimental results show that: when determining the measurement noise variance R according to the positioning accuracy of the digital total station, the combined positioning orientation accuracy is the highest, where the maximum error in the x-axis direction is 0.03 m, the maximum error in the y-axis direction is 0.02 m, heading angle, pitch The detection errorof the angle and roll angle is less than 0.05°,which can meet the technical requirements of precise positioning and orientation of coal mine roadheaders, solve the problem of cumulative error and position divergence of optical fiber strapdown inertial navigation attitude, and realize the precise autonomous positioning and orientation of the roadheader. The intelligent development of the surface lays a good foundation.