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A positioning method and device based on inertial navigation device and encoder

An inertial navigation and inertial navigation measurement technology, which is applied in the field of positioning methods and devices based on inertial navigation devices and encoders, and can solve problems such as inability to accurately obtain absolute geographic location information of underground equipment in mines.

Active Publication Date: 2021-08-20
BEIZHING LONGRUAN TEKNOLODZHIS INK
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the above problems, the present invention provides a positioning method and device based on inertial navigation devices and encoders to solve the problem in the prior art that the absolute geographic location information of mine underground equipment cannot be accurately obtained

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  • A positioning method and device based on inertial navigation device and encoder
  • A positioning method and device based on inertial navigation device and encoder

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Embodiment 1

[0045] In order to understand the embodiment of the present invention more clearly, here is an introduction to the state of the underground mine of mine mining. The underground environment of the mine is harsh, there are limited space, strong magnetic field, etc., and it is difficult to achieve stable wireless signal transmission. During operation, it is also impossible to establish a communication connection with the base station and other settings, which leads to the inability of traditional ground precise positioning methods (such as GPS navigation and positioning, Beidou navigation and positioning, UWB navigation and positioning, etc.) Accurately grasp the exact location of mine underground equipment.

[0046] In order to solve the above technical problems, an embodiment of the present invention provides a positioning method based on an inertial navigation device and an encoder, referring to figure 1 , shows a flow chart of the steps of a positioning method based on an ine...

Embodiment 2

[0114] refer to figure 2 , which shows a schematic structural diagram of a positioning device based on an inertial navigation device and an encoder provided by an embodiment of the present invention, which may specifically include:

[0115] The first determination module 210 is used to measure the initial information of the mine underground equipment before starting to work by wire;

[0116] The first collection module 220 is used to collect the inertial navigation measurement information of the mine underground equipment through the inertial navigation device;

[0117] The second collection module 230 is used to collect the mileage information of the mine underground equipment through an encoder;

[0118] The second determination module 240 is configured to determine the geographic location information of the mine underground equipment according to the initial information, the inertial navigation measurement information and the mileage information.

[0119] Optionally, the...

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Abstract

The invention provides a positioning method and device based on an inertial navigation device and an encoder. The method includes: measuring the initial information of the mine underground equipment before starting to work through a wire, and collecting the inertial navigation measurement of the mine underground equipment through the inertial navigation device Information, the mileage information of the mine underground equipment is collected through the encoder, and the geographic location information of the mine underground equipment is determined according to the initial information, inertial navigation measurement information, and mileage information. The invention can accurately grasp the geographic location information of underground equipment in a mine under the condition of no one, so as to provide technical support for efficient, intelligent and safe production of the mine.

Description

technical field [0001] The invention relates to the technical field of mine production, in particular to a positioning method and device based on an inertial navigation device and an encoder. Background technique [0002] Mine mining is a huge and complex system engineering. The trend of modern mining is to reduce the production activities of workers in the mine. In the absence of people, controlling the operation of the mine underground equipment at the workplace is an important condition to ensure safe and efficient mining. . [0003] However, due to the poor environmental conditions in mines, there are problems such as limited space and strong magnetic fields, traditional methods such as GPS positioning and satellite positioning cannot be implemented in mines, so that it is impossible to accurately obtain the absolute geographic location information of each mine's underground equipment As a result, it is impossible to accurately grasp the current working face advancement...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 毛善君李鑫超郭兵
Owner BEIZHING LONGRUAN TEKNOLODZHIS INK