Combined initial alignment system and alignment method for strapdown inertial navigation system of underground coal mining machine

Abstract

A combined initial alignment system and alignment method for a strapdown inertial navigation system of an underground coal mining machine belong to initial alignment system and alignment method for positioning navigation of underground coal mining machines. The system is composed of a strapdown inertial navigation system installed on the coal mining machine, a wireless sensor network mobile node, an inclination sensor, a geomagnetic field sensor and anchor nodes installed on a hydraulic support. After coarse alignment of the strapdown inertial navigation system, the wireless sensor network is used to detect the location information of the underground coal mining machine, the inclination sensor measures the roll and pitch angle, and the geomagnetic field sensor measures the yaw angle. A pose measurement equation of the coal mining machine is constructed, and the pose measurement equation is combined with an error model after the coarse alignment of the strapdown inertial navigation system to establish a state equation; fusion smoothing is carried out to obtain the accurate location information of the coal mining machine; and the precise alignment of the strapdown inertial navigation system is conducted to complete the initial alignment. The invention realizes precise initial alignment of strapdown inertial navigation combination under the severe closed condition in coal mine, and greatly improves the precision of the integrated positioning under large misalignment angle of the strapdown inertial navigation system of the coal mining machine.

Description

technical field [0001] The invention relates to an initial alignment system and alignment method for positioning and navigation of an underground coal mining machine, in particular to a combined initial alignment system and alignment method for a strapdown inertial navigation system of an underground coal mining machine. Background technique [0002] Coal is an important basic energy and raw material in my country. The energy structure dominated by coal will not change for a long time. With the development of the national economy, the demand for coal is increasing, and the accompanying coal mine safety accidents are also constantly increase. The technology of safe and efficient development and utilization of coal resources has become a hot field of research by scholars at home and abroad. One of the most effective solutions is to realize the mechanization and automation of coal mine production equipment, so as to realize unmanned or less-manned mining in the fully mechanized...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a combined initial alignment system and alignment method of the strapdown inertial navigation system of an underground coal mining machine, to solve the problem that the initial alignment of the strapdown inertial navigation positioning system of the coal mining machine cannot rely on traditional GPS positioning , the problem of precise initial alignment of the moving base

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