Real-time positioning method for underground roadway tunneling equipment based on UWB

Abstract

The invention provides a real-time positioning method for underground roadway tunneling equipment based on UWB and an inertial unit. The real-time positioning method comprises the following steps: measuring coordinates of a UWB radar transmitter and a UWB radar receiver in a geographic coordinate system, and the position relation among the inertial measurement unit, the UWB radar and the tunneling equipment is determined; obtaining the initial coordinate and the initial attitude angle of the tunneling equipment in the moving process; and further obtaining the real-time position and the real-time attitude angle of the tunneling equipment through an inertial measurement unit, processing an observation value and an action value by adopting a Kalman filtering mode, and correcting a positioning error. The positioning device adopted by the invention is simple in structure, and the obtained fuselage positioning information is complete and high in reliability; UWB radar distance measurement is only related to time parameters and is not affected by the external environment; tunneling equipment can be automatically positioned in real time, and manual intervention is not needed in the positioning process; safe and efficient roadway tunneling is achieved, and technical support is provided for unmanned and intelligent coal mine roadway tunneling equipment.

Description

technical field [0001] The invention relates to the technical field of construction machinery positioning, in particular to a real-time positioning method for underground roadway excavation equipment based on UWB and inertial units. Background technique [0002] With the development of coal mine equipment technology, domestic coal mine roadways have gradually realized mechanized excavation from the manual-based excavation method in the past, but manual work cannot be completely liberated from coal mine roadways. my country's coal mine roadway excavation is dominated by cantilever-type roadheaders. The coal mine excavation face is still a frequent accident-prone area in my country's coal mines. It is urgent to improve the automation and intelligence level of excavation equipment, which is of great significance to ensure the safe and efficient production of coal mines in my country. [0003] Coal mine roadway excavation mainly adopts cantilever type roadheader or fully mechani...

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Problems solved by technology

[0006] The purpose of the present invention is to provide a real-time positioning method for underground tunneling equipment based on UWB and inertial units, so as to solve the problem that the existing coal mine tunneling equipment positioning method cannot obtain all the pose parameters of the fuselage in the earth coordinate system, and the real-time measurement is limited , the measurement results are inaccurate, and safe and efficient intelligent tunneling cannot be realized.

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