A Method of Coal Shearer Positioning and Attitude Determination with Additional External Orientation Element Constraints

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...

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

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