摘要
针对现有巷道掘进机的姿态测量手段中普遍存在的高成本和误差累积等问题,文中提出了一种基于双矢量定姿原理的姿态测量算法。通过在巷道掘进环境中分别对重力矢量和光矢量进行构建与感知,利用惯性倾角测量和双目视觉测量技术,基于矢量元素分别在导航坐标系和掘进机载体坐标系中的数学表达,可实现掘进机载体坐标系相对于巷道导航坐标系的姿态解算。利用倾斜仪和双目相机组成的测量装置对指示激光和重力矢量进行测量,结合双矢量定姿算法即可完成掘进机机身的姿态解算。文中设计了静态重复性精度测量实验,结果表明该方法的姿态角重复性测量精度为0.0662°。利用蒙特卡洛方法对可能会引入的误差源进行仿真分析,结果表明误差对方位角、俯仰角以及滚转角的影响分别为0.7864°、0.4548°和0.4765°。
In view of the problems of high-cost and accumulation of errors in the existing attitude measurement methods of roadheader,an attitude measurement algorithm based on the principle of double-vector attitude determination is proposed.By constructing and sensing the gravity-vector and light-vector respectively in the roadway excavation environment,using inertial inclination measurement and binocular vision measurement techniques,the attitude of the roadheader carrier coordinate frame relative to the roadway navigation coordinate frame can be realized based on the mathematical expression of vector elements in the navigation coordinate frame and the roadheader carrier coordinate frame.A measuring device that consists of an inclinometer and a binocular camera measures the indicated laser and gravity-vectors,and then the attitude of the roadheader can be solved using the double-vector attitude determination algorithm.The static repeatability measurement experiment is designed,and the experimental results show that the repeatability measurement precision of the attitude angles is 0.0662°.The simulation analysis of the errors that may be introduced using the Monte Carlo method,which shows that the effect of the errors on the yaw,pitch and roll angles are 0.7864°,0.4548°and 0.4765°,respectively.
作者
徐叶倩
黄喆
沈小玲
赵世艺
李佳雄
王浩森
肖恒
XU Yeqian;HUANG Zhe;SHEN Xiaoling;ZHAO Shiyi;LI Jiaxiong;WANG Haosen;XIAO Heng(College of Electronic Information and Automation,Tianjin University of Science and Technology,Tianjin 300222,China)
出处
《电子科技》
2024年第4期8-15,共8页
Electronic Science and Technology
基金
天津市自然科学基金(18JCYBJC88600)
天津大学精密测试技术与仪器国家重点实验室开放课题(pilab1905)。
关键词
双目视觉
姿态测量
双矢量定姿
倾斜仪
煤矿掘进机
姿态角
重复性实验
误差分析
binocular vision
attitude measurement
double-vector attitude determination
inclinometer
coal mine roadheader
attitude angles
repeatability experiment
error analysis
