Autonomous positioning method and device based on inertial navigation data and used for coal cutter

A technology of inertial navigation and autonomous positioning, which is applied in directions such as navigation through speed/acceleration measurement, and can solve problems such as the inability to effectively monitor the position of coal mining machines

Active Publication Date: 2019-09-27
YANKUANG GRP CO LTD +1
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Problems solved by technology

[0008] Aiming at the defect in the prior art that the position of the shearer cannot be effectively monitored, in the first aspect, the present invention provides an autonomous positioning method for the shearer based on inertial navigation data, the method comprising:

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  • Autonomous positioning method and device based on inertial navigation data and used for coal cutter
  • Autonomous positioning method and device based on inertial navigation data and used for coal cutter
  • Autonomous positioning method and device based on inertial navigation data and used for coal cutter

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Embodiment Construction

[0050] In the following description, for purposes of illustration rather than limitation, specific details such as specific equipment structures, interfaces, and techniques are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0051] Such as figure 1 As shown, the present invention discloses a coal mining machine autonomous positioning method, the method comprising:

[0052] S1: According to the inertia sensor installed on the shearer, the first positioning data of the shearer is measured in the carrier coordinate system, wherein the first positioning data includes: the translational acceleration of the shearer in the ...

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Abstract

The invention provides an autonomous positioning method and device based on inertial navigation data and used for a coal cutter. The method comprises the following steps: according to an inertia sensor mounted on the coal cutter, measuring in a carrier coordinate system, thus obtaining first positioning data of the coal cutter, wherein the first positioning data comprises a translational acceleration of the coal cutter in the carrier coordinate system and a rotational angular velocity of the coal cutter in the carrier coordinate system; performing integral calculation on the translation acceleration in the first positioning data by combining initial estimated values of a speed and a position of the coal cutter, thus obtaining second positioning data in a navigation coordinate system; constructing a first attitude matrix in the carrier coordinate system, and performing differentiation, thus obtaining a second attitude matrix in the navigation coordinate system; according to the second attitude matrix, performing an inverse operation, thus obtaining an attitude angle of the coal cutter in the navigation coordinate system; and according to the second positioning data and the attitude angle, determining the position of the coal cutter in the navigation coordinate system.

Description

technical field [0001] The invention relates to the technical field of coal mine operations, in particular to an autonomous positioning method and device for a coal shearer based on inertial navigation data. Background technique [0002] Coal is my country's basic resource and energy, and an important guarantee for the development of the national economy. Coal will remain my country's main energy source for a long time to come. In 2014, my country's coal output was 3.87 billion tons, accounting for about 70% of the total primary energy production; my country's coal consumption accounted for 65% of the primary energy consumption. It is estimated that by 2020, the coal production capacity will be about 4-4.2 billion tons. [0003] my country's coal mining is dominated by underground workers, and comprehensive mechanized production is currently a widely used production method. There are five natural disasters of "water, fire, gas, coal dust, and roof" in the coal mining face, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/16Y02P90/02
Inventor 张元刚刘坤彭继国张波逯峰李政赵文豪亓玉浩马钢商登涛李纪栋赵峰刘万仓
Owner YANKUANG GRP CO LTD
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