采煤机惯性导航定位技术研究与应用

Research and Application of Inertial Navigation and Positioning Technology for Shearer

针对MG300-W型双滚筒采煤机定位法累积误差较大、定位精度低、无法实现连续测量等问题,对采煤机惯性导航定位技术进行研究。采用卡尔曼滤波法对惯性导航定位模型进行优化,有效降低惯导定位初始对准误差,并基于ARM控制核心及捷联惯性导航单元对采煤机位姿监测及对定位系统进行设计,实现对采煤机位置及姿态角等参数的实时测量,完成对采煤机的快速、精确定位。

In response to the problems of large cumulative errors,low positioning accuracy,and inability to achieve continuous measurement in the positioning method of MG300-W double drum shearer,the paper studies the inertial navigation positioning technology of shearer,optimizes the inertial navigation positioning model using Kalman filtering method,and designs shearer pose monitoring and positioning system based on ARM control core and strapdown inertial navigation unit,which effectively reduces the initial alignment error of inertial navigation positioning,achieves real-time measurement of parameters such as the position and attitude angle of shearer,and completes the fast and accurate positioning of shearer.