多信息融合技术的连续采煤机定位控制方法

Multi Information Fusion Technology for Positioning Control of Continuous Miner

针对传统连续采煤机定位控制方案受环境因素影响而导致的定位精度低以及误差较大等问题,设计了一种基于信息融合技术的连续采煤机定位控制方法。通过里程计、捷联式惯导系统以及激光雷达测距系统来采集连续采煤机的速度、位置和姿态等信息,利用联邦式滤波算法完成不同类型数据信息的融合,从而完成采煤机的准确定位。并以存在较大噪声干扰以及多种影响因素共存情况为例,对所设计方法的容差能力以及定位控制误差等方面进行验证。实验结果表明:2种包含不同干扰因素的工况下,连续采煤机的定位误差值均处于较低水平,定位控制精度高,容错性良好,满足实际采煤机定位控制的需求。

Aiming at the problems of low positioning accuracy and large error caused by environmental factors in traditional continuous miner positioning control scheme,a continuous miner positioning control method based on information fusion technology is designed.The speed,position and posture of continuous miner are collected by odometer,strap-down inertial navigation system and lidar ranging system,and different types of data information are fused by federated filter algorithm to complete the accurate positioning of the miner.The tolerance capability and positioning control error of the design method are validated by taking the presence of large noise interference and the coexistence of multiple influencing factors as examples.The results show that the positioning error values of continuous miners are at a low level under two working conditions with different disturbance factors,the positioning control accuracy is high,and the fault tolerance is good,which meets the requirements of the actual positioning control of the miners.