Inertial navigation positioning orientation method of continuous mining machine

An inertial navigation, positioning and orientation technology, which is used in navigation, mapping and navigation, and navigation through speed/acceleration measurement. It can solve problems such as inability to work underground and signals unable to penetrate rock formations.

Pending Publication Date: 2019-03-29
BEIHANG UNIV
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Problems solved by technology

Due to the complex electromagnetic working environment in the mine, the signal cannot penetrate the rock

Method used

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  • Inertial navigation positioning orientation method of continuous mining machine
  • Inertial navigation positioning orientation method of continuous mining machine
  • Inertial navigation positioning orientation method of continuous mining machine

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Embodiment Construction

[0036] The technical solutions of the present invention will be further described below in combination with specific embodiments.

[0037] A continuous mining machine inertial navigation positioning and orientation method, such as figure 1 As shown, it specifically includes the following steps:

[0038] Step 1: Install the strapdown inertial navigation system and the odometer on the top and the moving part of the shearer respectively, (such as Figure 4 As shown, 1 is the inertial navigation system; 2 is the shearer; 3 is the odometer;) and determine the initial information of the shearer, including the initial position coordinates in the northeast sky coordinate system.

[0039] The present invention is a quick detection device for alignment of a shearer based on an inertial navigation system. In order to determine the positional relationship between the shearer and the roof and floor of the coal seam of the working face, the positioning coordinate system of the shearer and ...

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Abstract

The invention provides an inertial navigation positioning orientation method of a continuous mining machine. Through the measurement of an inertial navigation system, the position information and theposture of a coal mining machine are returned to an upper computer. In this way, the straightness information of the coal mining machine in the working process is reflected in real time. An optical fiber gyroscope and an accelerometer of a strapdown inertial navigation system directly collect the rotational angular velocity and the linear acceleration of the coal mining machine in the inertial space. Through the integral operation, the movement speed, the air route, the posture and the position information of the rail coal mining machine are obtained. By means of a mileage meter installed on the walking portion of the coal mining machine, the walking speed and the walking distance of the coal mining machine are measured. Meanwhile, the information measured by the navigation system and theinformation measured by the milemeter are fused through the fast kalman fast filtering algorithm. The real-time position and the attitude information of the coal mining machine are analyzed accordingto the dead reckoning principle. After that, the tunneling direction of the coal mining machine is corrected in real time according to the real-time position and the attitude information. In this way,the coal mining machine is ensured to be driven according to a given straight line. The method is accurate in measurement result and simple in structure.

Description

technical field [0001] The invention relates to an inertial navigation positioning and orientation method for a continuous miner, in particular to a positioning and orientation algorithm for a continuous miner in an open-pit coal mine using a combined system of an inertial navigation system and an odometer. Background technique [0002] Historically, due to the frequent occurrence of coal mine safety accidents in my country, a large number of casualties and huge property losses are caused every year. Therefore, in order to solve the occurrence of coal mine accidents, my country has proposed a development plan for the development of intelligent mines in recent years. Among them, unmanned automatic mining is called its most important link, and the positioning and navigation technology of continuous miners and other equipment in mining is the current research hotspot. At present, navigation equipment technology is very mature, such as: radio navigation, satellite positioning, ...

Claims

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 宋来亮王心张春熹冉龙俊高爽
Owner BEIHANG UNIV
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