Integrated navigation mine positioning method and device based on strapdown inertial navigation and odometer

Abstract

The invention provides an integrated navigation mine positioning method based on strapdown inertial navigation and a speedometer. The method comprises the following steps: acquiring an angular rate increment and an acceleration increment acquired by a strapdown inertial navigation system; cone error compensation is carried out on the angular rate increment, and boating error compensation is carried out on the acceleration increment; constructing a transformation matrix of the fuselage coordinate system and the geographic coordinate system, extracting the attitude of the underground carrier in the geographic coordinate system, and obtaining the position information of the underground carrier in the geographic coordinate system through attitude matrix transformation; obtaining the mileage increment collected by the odometer, and obtaining the position information of the odometer in the geographic coordinate system through attitude matrix conversion; and establishing a measurement equation for the position information of the strapdown system and the position information of the odometer, and constructing a Kalman filtering equation to correct the position information of the strapdown inertial navigation system to obtain the optimal position information of the strapdown inertial navigation system. The invention further provides an integrated navigation mine positioning device based on the strapdown inertial navigation and the odometer.

Description

technical field [0001] The invention relates to the technical field of coal machine positioning, in particular to a mine positioning method based on strapdown inertial navigation and odometer combined navigation. Background technique [0002] At present, the transportation task of underground coal mine equipment is heavy, and accidents such as collision and overturning may occur. Therefore, it is necessary to navigate and locate coal mine underground equipment. [0003] In related technologies, some schemes propose to use the magnetic field strength to calculate the current location of underground equipment, and some schemes propose to use several base stations distributed along the extension direction of the roadway to analyze data messages to obtain the positioning position. [0004] In the process of realizing the present invention, the inventors found that there are at least the following problems in the prior art: the magnetic field positioning method is extremely susc...

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Problems solved by technology

[0004] In the process of realizing the present invention, the inventors found that there are at least the following problems in the prior art: the magnetic field positioning method is extremely susceptible to magnetic field interference and causes positioning failure, and the method of positioning base stations requires laying a large number of base stations on the travel route, which greatly increases the The cost of equipment is reduced, and the data refresh rate of these two positioning methods is low, and the above methods are all positioning methods, which can only test the current position of the device, but cannot detect the motion posture and speed of the device.

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