基于超宽带定位的掘进机姿态监测仿真与实验研究

Simulation and experiment on the attitude monitoring of roadheader based on ultra wide band

考虑到目前煤矿井下掘进机姿态监测与定向装置自动化程度低,测量精度低等问题,对一种基于UWB定位技术的掘进机姿态测量方法进行研究,该方法通过跟随掘进机同步移动的测量装置实现掘进机与测量装置在巷道内交替进行姿态监测。通过Matlab仿真软件和实验方法对姿态测量技术进行实例分析,结果验证该方法的可行性。研究结果表明:增加基站与标签距离会降低姿态测量精度,因此需要合理设置掘进机与测量装置的间距;增加标签与标签距离会提高姿态测量精度,因此需要合理设置标签的安装位置;标签Z轴的测量精度较低,会影响姿态测量的精度,可通过融合多种测量技术的办法来提高掘进机姿态测量的精度。

Considering the low level of coal mine roadheader posture monitoring and positioning device automation at present,and the problem of low precision,a study of roadheader posture measurement method based on UWB positioning technology was investigated. The attitude of roadheader was measured by a synchronous moving device with the roadheader.The feasibility of the proposed method was verified by Matlab simulation software and experimental method.The research results show that the increase in the base station and the tag distance will reduce the attitude accuracy,therefore a reasonable spacing between roadheader and measuring device needs to be set. Increasing tag and tag distance will improve the attitude measurement precision,therefore a reasonable installation position of the label needs to be set. Label the Z axis measuring accuracy is low,and can affect the attitude measurement accuracy. The attitude measurement precision of roadheader can be improved through the integration of a variety of measurement techniques.