基于iGPS的掘进机单站多点分时机身位姿测量方法

Aposition and orientationmeasurement method of single-station,multipoint and time-sharing forroadheaderbody based on i GPS

为实现掘进机机身位姿的高精度自主测量,提出了基于i GPS的掘进机单站多点分时机身位姿测量方法,并对其可行性进行分析,研究了其测量误差分布规律。分析了目前各种掘进机机身位姿测量方法及i GPS的应用方式,推导出掘进机的位姿计算参数。系统阐述了此测量方法的组成及工作原理,依据其工作原理及掘进机工作特点,建立接收器位置坐标的解算模型,通过Matlab进行仿真,得出了在不同测量距离下接收器各个轴向坐标测量误差的变化规律,结果表明:接收器各个轴向坐标测量误差随着测距的不断增大而增大,且y轴方向的测量误差增长速率大于x,z轴方向;随着测量次数的增多,测量误差有所减小,当测距为40 m,测量次数为200时,y轴方向的最大测量误差为0.070 m。将仿真结果与国家煤矿井巷工程验收标准值进行对比得出,应用此方法测量得出的最大测量误差值小于国家标准的规定值,能够满足掘进机的位姿测量要求。

In order to realize autonomous and high-precision position and orientation measurement of roadheader body, a position and orientation measurement method of single-station, multipoint and time-sharing based on iGPS is put forward. The feasibility and distribution laws of the measurement error of the proposed measurement method are also studied. The position and orientation computational parameters of roadheader are inferred by analyzing the current different position and orientation measurement methods of roadheader body and applying iGPS technology. After formulating the composition and principle of the proposed measurement method, a computational model of receiver position (x, y and z) is constructed based on the principle and the working characteristics of roadheader. Then the regularity of measurement error of receiver position (x, y and z) at different measurement distances is obtained through Matlabmodel simulation. Results indicate that the measurement error of receiver position (x, y and z) increases with the increase of measurement distance, and the y-axis growth rate of the measurement error is larger than x-axis and z-axis growth rates; and the measurement error decreases as the measurement number increases. The maximum measurement error of y-axis is 0.070 m on the conditions of 40 m and 200 times. Comparing simulation results with the requirements of National Coal Mine Engineering Acceptance Standard, the maximum measurement error of the method is less than the specified value and satisfies the requirement of position and orientation measurement of roadheader. © 2015, China Coal Society. All right reserved.