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Coal mining machine positioning and attitude determination method with additional exterior orientation element constraints

A technology of external orientation elements, positioning and attitude determination, which is applied in the direction of navigation, measuring devices, instruments, etc. through velocity/acceleration measurement, which can solve the problems of insufficient sensor data coupling, poor adaptive ability, and low texture.

Inactive Publication Date: 2020-05-29
XIAN UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

Disadvantages: Since the gyroscope is affected by the instability of the zero bias during the long-term output process, errors gradually accumulate during the attitude calculation process; the comprehensive use of sensor data will cause insufficient coupling; the underground space environment has low texture Features, poor self-adaptive ability, inconvenient to control the movement of the shearer

Method used

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  • Coal mining machine positioning and attitude determination method with additional exterior orientation element constraints
  • Coal mining machine positioning and attitude determination method with additional exterior orientation element constraints
  • Coal mining machine positioning and attitude determination method with additional exterior orientation element constraints

Examples

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Embodiment 1

[0059] Such as figure 1 As shown, a method for positioning and attitude determination of a shearer with additional external orientation element constraints is characterized in that the method comprises the following steps:

[0060] Step 1. The inertial navigation system provides real-time parameters;

[0061] Step 2, visual positioning and attitude determination method;

[0062] Step 3, fusion algorithm;

[0063] The inertial navigation system provides real-time parameters and takes the northeast sky coordinate system as the navigation coordinate system in the IMU positioning and attitude determination, and the specific solution steps are:

[0064] 2.1 Calculate the transformation matrix from the carrier coordinate system to the navigation coordinate system:

[0065] The conversion matrix from the carrier coordinate system to the navigation coordinate system can be obtained through the angle change rate measured by the gyroscope and updated by the quaternion:

[0066]

...

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Abstract

The invention relates to the field of coal mining machine control and particularly relates to a coal mining machine positioning and attitude determination method with additional exterior orientation element constraints. The method comprises steps of step 1, providing real-time parameters by an inertial navigation system; 2, a visual positioning and attitude determination method; step 3, a fusion algorithm. The method has advantages of strong real-time performance, high sampling frequency, rich data and high attitude determination and positioning precision, uses multiple sensors to collect, settle and feed back state parameters of a coal mining machine, is convenient to control a working state of an underground coal mining machine, has a large amount of redundant data, has strong fault tolerance of the system, and is convenient to control a state of the coal mining machine.

Description

technical field [0001] The invention relates to the field of coal shearer control, in particular to a method for positioning and determining the attitude of the coal shearer with external orientation element constraints. Background technique [0002] The traditional orientation and attitude determination method of shearer relies on the known external parameters such as base station coordinates or track shape, which cannot meet the real-time, autonomy and accuracy requirements of shearer positioning. Advantages: No error accumulation, and the attitude calculation process is relatively easy. Disadvantages: It cannot determine the attitude in real time, it is greatly disturbed by the outside world, it is difficult to achieve high-precision attitude parameters, and due to the influence of time, it is difficult to determine the attitude parameters at a certain moment, and it is extremely difficult for the outside to control its operation process. [0003] Using gyroscopes, accel...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/04
CPCG01C21/04G01C21/165
Inventor 龚云南守琎石稳欣王浩森杨梦佳高涵赵吉庆
Owner XIAN UNIV OF SCI & TECH
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