Tunneling machine positioning method and system based on inertial navigation and laser radar single-point ranging

Abstract

The invention discloses a roadheader positioning method based on inertial navigation and laser radar single-point ranging. First, the laser radar is used to scan the tunneling reference surface. There is a control point on the reference surface, and the coordinates of the control point are known. Get the distance from the control point to the laser radar, and then use the installation error matrix between the roadheader and laser radar and the attitude matrix provided by the inertial navigation system to convert the distance to the navigation coordinate system, so as to get the position of the roadheader, and then This value is fused with the position information provided by the inertial navigation system using the Kalman filter to obtain high-precision position information. This positioning method can ensure the long-term high-precision positioning and orientation requirements of the roadheader, and has the advantages of passive measurement, self-contained system, less susceptible to interference and accurate positioning. At the same time, the invention also discloses a roadheader positioning system based on inertial navigation and laser radar single-point ranging.

Description

technical field [0001] The invention relates to the technical field of positioning of roadheading machines, in particular to a roadheading machine positioning method and system based on inertial navigation and laser radar single-point ranging. Background technique [0002] The precise positioning and orientation system of the roadheader is a key issue in the excavation of roadways, tunnels, etc. The positioning and orientation system directly affects the efficiency and quality of the roadheader's work. The working environment of roadheaders and other mining construction machinery has large dust, strong noise and poor lighting conditions, which seriously affects the physical and mental health of operators and work efficiency. In order to reduce the workload of roadheader operators and improve the safety of tunneling workers, the roadway Machines are gradually transforming into automation. [0003] The autonomous positioning and orientation system of the roadheader is the key...

AI Technical Summary

Problems solved by technology

[0004] (1) Disadvantages of the autonomous positioning technology of the roadheader based on laser positioning: because this method uses the laser positioning sensor to generate a position signal based on the laser beam received by the laser target to obtain the location of the roadheader, this method can only get the position of the roadheader information, but cannot effectively obtain the direction and attitude of the roadheader traveling in the roadway

[0005] (2) The disadvantages of the autonomous positioning technology of the roadheader based on the inertial navigation system are: because this method uses the inertial navigation system to determine the position information of the carrier in real time, but the inertial navigation system uses the inertial measurement element to measure the acceleration of the carrier and obtain it through integration. The attitude and position information of the carrier, gyro drift and other factors cause errors to accumulate over time, and the roadheader usually needs to work underground for a week or more. Therefore, the position measurement technology based on inertial measurement technology is used for the autonomous positioning and orientation system of the roadheader. Errors accumulate over time, and positioning accuracy decreases over time

Among them, the vision module obtains the target position by acquiring image features, but in the underground excavation environment, the dust is large, which is not conducive to the acquisition of image features

[0007] (4) The disadvantages of the position measurement method based on ultra-wideband measurement technology are: because this method is a radio ranging technology that uses ultra-wideband signals for distance measurement, ultra-wideband signals are easily affected by the surrounding environment when propagating in the air, and excavation A large number of metal devices are stored in the working environment of the machine, and the electromagnetic environment is complex, which greatly affects the normal transmission of ultra-wideband signals, resulting in a large error between the positioning information of the system and the real position information

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