近年来我国煤矿井下瓦斯爆炸、透水等安全事故频发,严重威胁矿工生命安全。为实现煤矿井下综采工作面采煤机位姿无人化、高精度检测,改善矿工的工作环境,提高煤矿机械化、自动化程度,对比了现有的检测综采工作面上采煤机实时位姿的技术...近年来我国煤矿井下瓦斯爆炸、透水等安全事故频发,严重威胁矿工生命安全。为实现煤矿井下综采工作面采煤机位姿无人化、高精度检测,改善矿工的工作环境,提高煤矿机械化、自动化程度,对比了现有的检测综采工作面上采煤机实时位姿的技术方法,提出了一种基于多感知方式组合测量的采煤机位姿检测系统,该系统采用全站仪和UWB(Ultra Wide-band)定位系统组合测量采煤机的空间位置坐标,采用倾角传感器和寻北仪组合测量采煤机的姿态角(航向角、横滚角、俯仰角);建立了系统的三维模型,将全站仪安装在区段运输平巷与运输上山的交点处,将UWB固定基站群安装至综采工作面与区段运输平巷交点的转载机处。为实现UWB移动基站移站时的自主标定,液压支架顶端和底端分别安装UWB模块,将UWB定位节点安装至采煤机机身,将倾角传感器和寻北仪安装至采煤机机身。推导了全站仪与UWB固定基站群的坐标的测量方法,UWB定位系统基于TOA(Time of Arrival)定位模型的CT(Caffery-Taylor)算法以及全站仪坐标系与UWB固定基站群坐标系间的坐标变换矩阵。详细介绍了采煤机倾角传感器和寻北仪的系统结构和工作原理,分析了该系统在实际应用中的受限因素,并简要提出了相应的改善方案。该系统理论上可实现采煤机在综采工作面中的实时位姿检测,为系统仿真分析和试验平台搭建提供了理论参考。展开更多
室内定位问题是导航技术的热点问题,由于环境的复杂性,单一的定位方法均无法满足定位需要。为解决室内定位过程中的非视距(Non-line of sight,NLOS)问题,组合定位技术正被广泛研究应用。本文提出了一种组合超宽带(UWB)与惯性导航系统(I...室内定位问题是导航技术的热点问题,由于环境的复杂性,单一的定位方法均无法满足定位需要。为解决室内定位过程中的非视距(Non-line of sight,NLOS)问题,组合定位技术正被广泛研究应用。本文提出了一种组合超宽带(UWB)与惯性导航系统(INS)的定位方法,采用松耦合结构与随机采样一致性(Random Sample Consensus,RANSCA)方法,克服UWB系统中的NLOS问题。同时,使用拓展卡尔曼滤波(Extended Kalman Filter,EKF)方法,利用最优估计完成数据融合。实验证明,该方法具有较高的精确性与稳定性。展开更多
The emerging ultra-wideband (UWB) system offers a great potential for the design of high-speed short-range communications.Compared with great progress at physical layer,the corresponding medium access control (MAC) la...The emerging ultra-wideband (UWB) system offers a great potential for the design of high-speed short-range communications.Compared with great progress at physical layer,the corresponding medium access control (MAC) layer designs are naturally placed on the schedules.We focus on the optimal power load scheme,which is an integral part of the MAC layer protocol design,for UWB space-time coded (STC) orthogonal frequency-division multiplexing (OFDM) transmissions.Assumed the transmitter has perfect or partial channel stage information (CSI).Based on the optimization criteria of maximizing capacity,three kinds of power load schemes were presented with different tradeoff among performance,complexity and feedback bandwidth overhead.The proposed schemes are verified and compared under the channel prototype proposed by IEEE 802.15.3a Task Group.展开更多
文摘近年来我国煤矿井下瓦斯爆炸、透水等安全事故频发,严重威胁矿工生命安全。为实现煤矿井下综采工作面采煤机位姿无人化、高精度检测,改善矿工的工作环境,提高煤矿机械化、自动化程度,对比了现有的检测综采工作面上采煤机实时位姿的技术方法,提出了一种基于多感知方式组合测量的采煤机位姿检测系统,该系统采用全站仪和UWB(Ultra Wide-band)定位系统组合测量采煤机的空间位置坐标,采用倾角传感器和寻北仪组合测量采煤机的姿态角(航向角、横滚角、俯仰角);建立了系统的三维模型,将全站仪安装在区段运输平巷与运输上山的交点处,将UWB固定基站群安装至综采工作面与区段运输平巷交点的转载机处。为实现UWB移动基站移站时的自主标定,液压支架顶端和底端分别安装UWB模块,将UWB定位节点安装至采煤机机身,将倾角传感器和寻北仪安装至采煤机机身。推导了全站仪与UWB固定基站群的坐标的测量方法,UWB定位系统基于TOA(Time of Arrival)定位模型的CT(Caffery-Taylor)算法以及全站仪坐标系与UWB固定基站群坐标系间的坐标变换矩阵。详细介绍了采煤机倾角传感器和寻北仪的系统结构和工作原理,分析了该系统在实际应用中的受限因素,并简要提出了相应的改善方案。该系统理论上可实现采煤机在综采工作面中的实时位姿检测,为系统仿真分析和试验平台搭建提供了理论参考。
基金This work was partially supported by NSF under Grant 60496315 and national "863" projects under Grant2003AA12331005
文摘The emerging ultra-wideband (UWB) system offers a great potential for the design of high-speed short-range communications.Compared with great progress at physical layer,the corresponding medium access control (MAC) layer designs are naturally placed on the schedules.We focus on the optimal power load scheme,which is an integral part of the MAC layer protocol design,for UWB space-time coded (STC) orthogonal frequency-division multiplexing (OFDM) transmissions.Assumed the transmitter has perfect or partial channel stage information (CSI).Based on the optimization criteria of maximizing capacity,three kinds of power load schemes were presented with different tradeoff among performance,complexity and feedback bandwidth overhead.The proposed schemes are verified and compared under the channel prototype proposed by IEEE 802.15.3a Task Group.
