基于采煤机工作面端头量测的改进因子图高精度自主定位方法研究
作者:
作者单位:

1.南京航空航天大学;2.湖北航天技术研究院总体设计所

作者简介:

通讯作者:

中图分类号:

TP273

基金项目:

国家自然科学基金项目(面上项目,重点项目,重大项目),


Research on the High-precision Autonomous Positioning Method based on the Improved Factor Graph of the Measurements at both ends of Shearer Working Face
Author:
Affiliation:

1.Nanjing University Of Aeronautics And Astronautics;2.Hubei Academy of Spaceflight Technology Overall Design

Fund Project:

The National Natural Science Foundation of China (General Program, Key Program, Major Research Plan)

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献
  • |
  • 资源附件
  • |
  • 文章评论
    摘要:

    采煤机的高精度定位是煤炭开采自动化和智能化的重要研究方向。其中惯性导航系统和里程计是长壁综合机械化采煤机定位主要传感器之一。通过两者的信息融合,能够有效的抑制惯性导航系统的发散并且具有较好的自主导航能力,但是仍然无法满足井下长时间的高精度导航要求。本文分析了目前常用辅助传感器在采煤机开采过程中存在的问题,提出了基于UWB采煤机工作面端头量测的改进因子图优化方法。利用UWB在工作面端头的位置量测信息,推导并构建了惯导/里程计/UWB的约束方程和图优化模型。同时通过惯性信息的预积分,减少了待优化的节点数量,降低了算法的计算量。在此基础上,加入里程计标度因数误差和安装误差的因子节点进行联合估计和优化。论文开展了仿真和实际跑车测试,实验结果表明,相较于基于传统卡尔曼滤波的采煤机定位方式,有效提高了采煤机的定位精度。

    Abstract:

    High-precision positioning of shearer is an important research direction of automation and intelligence in coal mining. Inertial navigation system and odometer are the main sensors for positioning of longwall comprehensive mechanized shearer. It can effectively suppress the divergence of the inertial navigation system and has better autonomous navigation ability through information fusion. However, it still cannot meet the requirements of long-term and high-precision navigation. This paper analyzes the existing problems of auxiliary sensors in the mining process of shearer and puts forward an improved factor graph optimization method based on UWB measurement at both ends of the shearer working face. The constraint equation and graph optimization model of inertial navigation/odometer /UWB were derived and constructed by position measurement information of UWB. At the same time, through the pre-integration of inertial information, the number of nodes to be optimized is reduced, thereby reducing the calculation amount of the algorithm. On this basis, the factor nodes of odometer scale factor error and installation error are added for joint estimation and optimization. The thesis carried out simulation and actual experiments. The experimental results show that compared with the traditional Kalman filter, the algorithm in this paper effectively improves the positioning accuracy of the shearer.

    参考文献
    相似文献
    引证文献
引用本文
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:2021-03-21
  • 最后修改日期:2021-07-09
  • 录用日期:2021-07-19
  • 在线发布日期: 2021-08-01
  • 出版日期: