基于数据融合的井下连续采煤机自动定位方法的研究

Research on Automatic Positioning Method of Underground Continuous Shearer Based on Data Fusion

本文针对采煤机定位不准,调姿不可靠的问题,分析采煤机的定位技术,提出了一种基于惯性/编码器的数据融合定位方法。分析惯性导航定位的主要误差来源,利用联合分布式卡尔曼滤波器修正数据,由惯性导航初步估算采煤机的位置信息,利用编码器的高精度一维信息,修正三维信息,得到采煤机的精确位置信息。选型确定了定位系统的硬件设备,设计定位方法的软件实现流程。基于数据融合与零速修正理论实现了采煤机位置信息的精准定位,保证了采煤机调姿的可靠性,提高了综采工作面的采煤效率。

Aiming at the problems of inaccurate positioning and unreliable posture adjustment of shearer,this paper analyzes the positioning technology of shearer,and proposes a data fusion positioning method based on inertial/encoder.The main error sources of inertial navigation positioning are analyzed,the data correction is carried out by the joint distributed Kalman filter,the position information of the shearer is preliminarily estimated by the inertial navigation,and the three-dimensional information is corrected by using the high-precision one-dimensional information of the encoder to obtain the accurate position information of the shearer.The selection determines the hardware equipment of the positioning system and the software implementation process of the positioning method.Based on the theory of data fusion and zero-speed correction,the precise positioning of shearer position information is realized,which ensures the reliability of shearer posture adjustment and improves the coal mining efficiency of the comprehensive mining face.