摘要
针对井下掘进装备采掘过程中位姿信息不易获取且存在较大误差的问题,系统地介绍了由捷联式惯性导航系统、激光测距仪及里程计组成的掘进装备组合导航系统的工作原理。根据各子导航系统所获取的位置及姿态信息,采用卡尔曼滤波对冗余数据进行融合,以此对惯性导航系统所获取的位姿信息进行误差补偿,形成闭环控制,克服单一传感器测量存在误差缺陷的问题,有效提高导航系统整体精度,满足掘进装备井下采掘工艺要求。
Aiming at the problems of the posture information is difficult to obtain and there are large errors during the excavation of underground driving equipment,the working principle of the driving equipment integrated navigation system which composed of strapdown inertial navigation system,laser rangefinder and odometer was systematically introduced.According to the position and attitude information obtained by the sub-navigation system,the Kalman filter was used to fuse the redundant data,so as to compensate the pose information obtained by the inertial navigation system and form a closed-loop control to overcome the problem of the error defect of the single sensor measurement.Thereby improving the overall accuracy of the navigation system effectively and meet the underground mining process requirements of the driving equipment.
作者
贺建伟
常映辉
陈宁
冀鹏飞
马浩楠
He Jianwei;Chang Yinghui;Chen Ning;Ji Pengfei;Ma Haonan(China Coal Research Institute,Beijing 100013,China;Taiyuan Research Institute,China Coal Technology and Engineering Group,Taiyuan 030006,China;Shanxi Tiandi Coal Mining Machinery Co.,Ltd.,Taiyuan 030006,China)
出处
《煤矿机械》
北大核心
2020年第9期32-34,共3页
Coal Mine Machinery
关键词
井下掘进装备
惯性导航系统
组合导航
数据融合
underground driving equipment
inertial navigation system
integrated navigation
data fusion
