A coal mining machine positioning method based on array inertial unit
An inertial unit and positioning method technology, applied in the field of array inertial navigation, can solve the problems of increased cumulative error, insufficient error analysis, and inability to meet the positioning accuracy requirements of coal shearers, so as to improve positioning accuracy and reduce cumulative Error, the effect of improving positioning accuracy
Active Publication Date: 2020-08-11
CHINA UNIV OF MINING & TECH
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Problems solved by technology
However, the error analysis of the existing inertial navigation system is not comprehensive enough. With the increase of time, the cumulative error increases, which makes it difficult to meet the positioning requirements of the shearer. The existing error elimination method is not intuitive and effective enough to meet the positioning accuracy requirements of the shearer.
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[0035] figure 1 Shown is a coal shearer positioning method based on the array inertial unit of the present invention: firstly, the four-way inertial unit is arranged in an array structure to form an inertial sensor, which is fixedly connected to the top of the shearer body through a disc , and then connect the inertial sensor to the STM32 controller for communication, and then connect the STM32 controller to the PC host computer. The platform collects angular velocity and acceleration information through the inertial sensor installed on the coal mining machine body, and sends them to the STM32 controller to denoise the four channels respectively, then perform fusion calculation, error correction, and send the corrected data Go to the PC host computer for positioning display. Among them, the inertial sensor unit adopts four-way inertial unit, each transmission inertial unit adopts MPU6050 inertial unit produced by InvernSense Company, and the STM32 control board adopts STM32F4...
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The invention relates to a method for locating a coal cutter based on array inertia units. The method comprises the following steps: arranging four inertia units above a cabinet of the coal cutter into an array structure; sending the angular velocity and accelerated velocity information collected by inertial sensors to a controller for denoising, bend solver and error correction; sending the corrected data to a PC upper computer for displaying the location. According to the method for locating the coal cutter based on array inertia units provided by the invention, the four inertia units are formed into the array structure, so that the time-varying drifting of the inertia units caused by environmental factors can be eliminated; wavelet denoising based on the fruit fly algorithm is performedon the sensor data, so that the accumulative error is reduced and the locating precision is increased; the UKF (Unscented Kalman Filter) algorithm is adopted for correcting errors, so that the locating accuracy is further promoted.
Description
technical field [0001] The invention relates to an array type inertial navigation technology, in particular to a coal shearer positioning method based on an array type inertial unit. Background technique [0002] Fruit Fly Optimization Algorithm (FOA) was proposed by Wen-TsaoPan in 2011. There is a new type of swarm intelligence optimization algorithm, which is a new method for deriving global optimization based on fruit fly foraging behavior. In recent years, wavelet theory has developed very rapidly, and because of its good time-frequency characteristics, it is widely used in practice. In the field of denoising, wavelet theory has also been valued by many scholars, and wavelet denoising has been applied and very good results have been obtained. [0003] The intelligent control of the coal mining machine is the key to realize the intelligentization of fully mechanized mining. In order to realize the intelligent control of the coal mining machine, the positioning problem of...
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IPC IPC(8): G01C21/16G06N3/00
CPCG01C21/16G06N3/006
Inventor 王忠宾万淼谭超闫海峰司垒路绪良魏东陈文鹏李沛阳武子清
Owner CHINA UNIV OF MINING & TECH