An underground space navigation positioning method and navigation positioning system

Abstract

The application provides an underground space navigation positioning method and a navigation positioning system. The navigation positioning method comprises the following steps: controlling a total station to autonomously set up in an underground space; using the total station to automatically track a positioning prism arranged on a moving target to obtain first position information; using a laser radar odometer to obtain first speed information, using an odometer to obtain second speed information, and using an inertial navigation device to obtain attitude information, third speed information and second position information; using an information processor to establish a data fusion filter according to the first position information, the first speed information, the second speed information, the attitude information, the third speed information and the second position information, and using Kalman filtering to obtain a combined navigation positioning result of the moving target and a navigation precision self-evaluation result. Compared with the prior art, the technical scheme of the application can solve the technical problems of low navigation positioning precision, poor real-time performance and being easily affected by a complex underground space environment in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underground space navigation positioning, and in particular to an underground space navigation positioning method and a navigation positioning system. BACKGROUND

[0002] Due to the absence of GPS signals in underground space, and problems such as poor environment, much dust, and high humidity, the commonly used navigation positioning methods cannot be used in underground space. The total station and the laser radar use laser ranging method for measurement, and the ranging accuracy can reach millimeter level, but are easily affected by obstructions such as structures, and need professional surveying personnel to perform underground measurement, which cannot guarantee real-time performance. At present, the navigation positioning method for underground space mostly uses the total station to relay measurement of traverse control points, but cannot provide real-time high-precision positioning results, and is affected by problems such as much dust and complex structure in underground space, resulting in complex field surveying and measuring work or difficulty in performing high-precision position measurement. SUMMARY

[0003] In order to solve one of the problems in the prior art, the present application provides an underground space navigation positioning method and a navigation positioning system.

[0004] According to an aspect of the present application, an underground space navigation positioning method is provided, and the navigation positioning method comprises:

[0005] The total station is controlled by the display control terminal to perform autonomous station setting in underground space;

[0006] The positioning prism arranged on the moving target is automatically tracked by the total station to obtain first position information of the moving target;

[0007] The laser radar odometer is used to obtain first speed information of the moving target, the odometer is used to obtain second speed information of the moving target, and the attitude information, third speed information, and second position information of the moving target are obtained by solving the inertial navigation device, wherein the laser radar odometer, the odometer, and the inertial navigation device are all arranged on the moving target;

[0008] The information processor arranged on the moving target establishes a data fusion filter according to the first position information, the first speed information, the second speed information, the attitude information, the third speed information, and the second position information, and obtains the combined navigation positioning result and the navigation accuracy self-evaluation result of the moving target through Kalman filtering;

[0009] The light intensity and the search intensity of the total station are adjusted by the display control terminal according to the combined navigation positioning result and the navigation accuracy self-evaluation result to improve the navigation positioning accuracy.

[0010] Further, the attitude information comprises a north-east-down misalignment angle, the first speed information, the second speed information and the third speed information each comprise a north-east velocity, and the first position information and the second position information each comprise a longitude, a latitude and an altitude.

[0011] Further, the combined navigation positioning result comprises an attitude of the moving target, a speed of the moving target and a position of the moving target.

[0012] Further, the navigation precision self-evaluation result comprises a longitude error, a latitude error and an altitude error.

[0013] Further, the state quantity of the data fusion filter is:

[0014]

[0015] In the above formula, X represents the state quantity, φ n , φ u , φ e represents a north-east-down misalignment angle, δV n , δV u , δV e represents a north-east velocity error, represents a latitude error, δh represents an altitude error, δλ represents a longitude error, ε x , ε y , ε z represents a gyro drift in the body XYZ frame, represents an accelerometer zero offset in the body XYZ frame, Δψ Lidar_odo represents a heading installation error of the laser radar odometer, ΔK odo represents an odometer scale factor error, ΔT odo represents an odometer time delay, ΔT Lidar_odo represents a laser radar odometer time delay, ΔT ETS represents a total station time delay.

[0016] Further, the observation quantity of the data fusion filter is:

[0017]

[0018] In the above formula, Z represents the observation quantity, represents a latitude measured by the inertial navigation device, represents a latitude measured by the total station, h represents an altitude measured by the inertial navigation device, represents an altitude measured by the total station, λ represents a longitude measured by the inertial navigation device, represents a longitude measured by the total station, V n represents a north velocity measured by the inertial navigation device, V e represents an east velocity measured by the inertial navigation device, Vn represents a northward velocity measured by the odometer, Ve represents an eastward velocity measured by the odometer, and Vx, Vy and Vz represent X-axis displacement, Y-axis displacement and Z-axis displacement of the inertial navigation device carrier respectively. and Vx, Vy and Vz represent X-axis displacement, Y-axis displacement and Z-axis displacement of the laser radar odometer respectively.

[0019] Further, the measurement matrix of the data fusion filter is:

[0020]

[0021] wherein H1=I 3×3 ,

[0022]

[0023] In the above formula, H(t) represents a measurement matrix, I 3×3 represents a 3x3 unit matrix, V u represents a skyward velocity measured by the inertial navigation device, R M represents a meridian principal radius of curvature, R N represents a colatitude circle radius of curvature, ΔV n represents a difference between two adjacent northward velocities measured by the inertial navigation device, ΔV e represents a difference between two adjacent eastward velocities measured by the inertial navigation device, represents a posture transfer matrix, represents an inverse of the posture transfer matrix.

[0024] According to another aspect of the present application, there is provided an underground space navigation positioning system, the navigation positioning system comprising a display control terminal, a total station, a positioning prism, a laser radar odometer, an odometer, an inertial navigation device and an information processor, the total station being arranged in an underground space, the total station, the positioning prism, the laser radar odometer, the odometer, the inertial navigation device and the information processor all being arranged on a moving target;

[0025] The display control terminal is configured to control the total station to perform autonomous station setting in the underground space.

[0026] The total station is configured to acquire first position information of the moving target by automatically tracking the positioning prism.

[0027] The laser radar odometer is configured to acquire first velocity information of the moving target.

[0028] The odometer is configured to acquire second velocity information of the moving target.

[0029] The inertial navigation device is used to obtain the attitude information, the third speed information and the second position information of the moving target;

[0030] The information processor is used to establish a data fusion filter according to the first position information, the first speed information, the second speed information, the attitude information, the third speed information and the second position information, and obtain the combined navigation positioning result and the navigation precision self-evaluation result of the moving target through Kalman filtering;

[0031] The display and control terminal is further used to adjust the light intensity and the search intensity of the total station to improve the navigation positioning precision according to the combined navigation positioning result and the navigation precision self-evaluation result.

[0032] The technical scheme of the present application provides a navigation positioning method and a navigation positioning system for underground space, which sets a positioning prism, a laser radar odometer, an inertial navigation device, an odometer and an information processor on a moving target, controls a total station to set a station autonomously in the underground space through a display and control terminal, uses the total station to automatically track the positioning prism to obtain the first position information of the moving target, uses the laser radar odometer and the odometer to respectively obtain the first speed information and the second speed information of the moving target, uses the inertial navigation device to obtain the second position information, the third speed information and the attitude information of the moving target, establishes a data fusion filter according to the information measured by the sensors, and obtains the combined navigation positioning result and the navigation precision self-evaluation result of the moving target through Kalman filtering, and meanwhile, the display and control terminal adjusts the light intensity and the search intensity of the total station according to the Kalman filtering result, thereby improving the navigation positioning precision. The method can realize real-time high-precision positioning and navigation in underground space such as a mine and a tunnel, the navigation positioning precision can reach the centimeter level, and is not affected by dust and complex structure in the underground space. BRIEF DESCRIPTION OF DRAWINGS

[0033] The included drawings provide further understanding of the embodiments of the present application, constitute a part of the specification, illustrate the embodiments of the present application, and explain the principles of the present application together with the text. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0034] Figure 1 Fig. 1 shows the information flow chart of each sensor in the navigation positioning method according to the specific embodiments of the present application;

[0035] Figure 2 Fig. 2 shows the algorithm flow chart of the navigation positioning method according to the specific embodiments of the present application;

[0036] Figure 3The timing of sensor information in a navigation positioning method according to a specific embodiment of the present application is shown;

[0037] Figure 4 The timing of information of a data fusion filter in a navigation positioning method according to a specific embodiment of the present application is shown;

[0038] Figure 5 The composition of a navigation positioning system according to a specific embodiment of the present application is shown;

[0039] Figure 6 The electrical connection relationship of devices in a navigation positioning system according to a specific embodiment of the present application is shown. DETAILED DESCRIPTION

[0040] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict. The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. The description of the at least one exemplary embodiment is actually only illustrative, and is by no means intended to limit the present application and its application or use in any way. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0041] It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a presence of the features, steps, operations, devices, components and / or combinations thereof.

[0042] The relative arrangement of parts and steps, numerical expressions, and values set forth in the examples herein are not intended to limit the scope of the application unless otherwise specifically stated. It is to be understood that the drawings are not necessarily to scale as the dimensions of the parts shown are for the purpose of illustration and description only and not limitation of the scope of the application. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail but are intended to be part of the scope of the present application. In all examples shown and discussed herein, any specific values should be interpreted as merely illustrative and not as a limitation. Other examples of exemplary embodiments can therefore have different values. It is noted that like numbers and letters refer to like elements throughout the several views of the drawings and, as such, no further discussion with regard thereto is deemed necessary.

[0043] As Figure 1 shown, according to specific embodiments of the present application, there is provided, according to an aspect of the present application, a method for navigation positioning in underground space, the method comprising:

[0044] controlling the total station to autonomously set up in the underground space through the display and control terminal;

[0045] acquiring first position information of the moving target by automatically tracking the positioning prism set on the moving target through the total station;

[0046] acquiring first speed information of the moving target through the laser radar odometer, acquiring second speed information of the moving target through the odometer, and obtaining attitude information, third speed information, and second position information of the moving target through the inertial navigation device, wherein the laser radar odometer, the odometer, and the inertial navigation device are all set on the moving target;

[0047] establishing a data fusion filter according to the first position information, the first speed information, the second speed information, the attitude information, the third speed information, and the second position information through the information processor set on the moving target, and obtaining a combined navigation positioning result and a navigation accuracy self-evaluation result of the moving target through Kalman filtering;

[0048] adjusting the light intensity and the search intensity of the total station through the display and control terminal according to the combined navigation positioning result and the navigation accuracy self-evaluation result to improve the navigation positioning accuracy.

[0049] This method provides a navigation and positioning approach for underground spaces. It involves setting up a positioning prism, a lidar odometer, an inertial navigation system (INS), an odometer, and an information processor on a moving target. A total station, controlled by a display and control terminal, autonomously sets up its position in the underground space. The total station automatically tracks the positioning prism to obtain the target's initial position information. The lidar odometer and odometer acquire the target's initial and second velocities, respectively. The INS calculates the target's second position, third velocity, and attitude information. A data fusion filter is established based on this sensor data, and Kalman filtering is used to obtain the combined navigation and positioning result and a self-evaluation of navigation accuracy. Simultaneously, the display and control terminal adjusts the total station's light intensity search based on the Kalman filtering result, thereby improving navigation and positioning accuracy. This method enables real-time, high-precision positioning and navigation in underground spaces such as mines and tunnels, achieving centimeter-level accuracy without being affected by dust or complex structures. Compared to existing technologies, this invention solves the problems of low accuracy, poor real-time performance, and susceptibility to complex underground environments in underground space navigation and positioning.

[0050] The underground spaces mentioned in this invention include, but are not limited to, mines and tunnels. As a specific embodiment of this invention, the following description uses a mine as an example. In a mine, the moving target typically refers to a tunneling vehicle, etc. Therefore, based on this embodiment, the equipment used in the navigation and positioning method of this invention can be divided into three parts: vehicle-mounted equipment, mine-based equipment, and control room equipment, such as... Figure 5 As shown, the vehicle-mounted equipment mainly includes an inertial navigation system, a lidar odometer, an odometer, and a positioning prism; the mine-in-the-mine equipment mainly includes a total station; and the control room equipment mainly includes a display and control terminal. In addition, to meet communication requirements, the vehicle-mounted equipment, the mine-in-the-mine equipment, and the control room equipment all include wireless communication equipment. Furthermore, to monitor the underground environment, in this embodiment of the invention, the vehicle-mounted equipment also includes a 360° surround-view camera. By transmitting the underground environment data to the display and control terminal, operators can intuitively understand the underground situation and respond to emergencies in a timely manner. As a specific embodiment of the present invention, the inertial navigation system adopts a FOSN fiber optic strapdown inertial navigation system with a gyroscope zero-point accuracy better than 0.005° / h. The positioning prism uses a Leica or other original 360° positioning prism. The lidar odometer, also known as a laser scanner, is a rotating laser scanner with 16 or 64 scan lines. The odometer is a digital odometer. All drive wheels are configured accordingly. The information processor is one that meets coal mine safety certification. The information processor, total station, and display and control terminal transmit data to each other via a wireless communication module. The wireless communication module can be a coal mine safety certified 4G module or an Internet module. Please refer to [reference needed] for the connection relationships between the various devices. Figure 6, can realize the functions of remote positioning, designated transceiving, state monitoring and the like.

[0051] Based on the above embodiment, the specific working procedure of the navigation positioning method proposed in the application comprises:

[0052] 1) Each device is powered on through remote or short-range power supply, and power-on inspection of each module is completed;

[0053] 2) The display and control terminal loads a work task, and displays the working conditions of the devices of each module;

[0054] 3) The device in the mine: the total station completes autonomous station setting under the operation of the display and control terminal, reaches the measurement accuracy, and is set to an automatic tracking 360° positioning prism mode to send the positioning results to the display and control terminal and the vehicle-mounted device through the wireless communication device at a set period;

[0055] 4) The vehicle-mounted device: the vehicle-mounted device receives the positioning results of the total station, starts to use the inertial navigation, the laser scanner, the odometer and the wireless communication module to receive the positioning results of the total station to perform combined navigation and navigation accuracy self-evaluation work, and sends the results to the display and control terminal through the wireless communication device.

[0056] 5) The display and control terminal adjusts the light intensity and search intensity of the total station in real time according to the combined navigation positioning results and the navigation accuracy self-evaluation results, and provides high-precision positioning accuracy.

[0057] Further, in the embodiment of the application, the attitude information includes a north-east misalignment angle, the first, second and third speed information all include north-east speed, and the first and second position information all include longitude, latitude and height. Wherein, the total station, the laser radar odometer and the odometer are different from the coordinate system of the inertial navigation device, and can be unified through coordinate conversion. Further, the combined navigation positioning result includes the attitude of the moving target, the speed of the moving target and the position of the moving target. The navigation accuracy self-evaluation result includes longitude error, latitude error and height error.

[0058] As shown in Figure 2 , the application constructs the state quantity and state equation of the Kalman filter of multi-information fusion, and the data fusion filter contains the position, speed, attitude, error of the reference sensor and time delay error. In order to make the navigation accuracy reach the centimeter level, combined with the running speed of the moving target, i.e., the carrier, the time synchronization accuracy of the inertial navigation, the odometer and the laser odometer is better than 10ms, after the hard time synchronization of each sensor is established, the data fusion filter establishes the time delay mathematical model of each sensor through the measurement matrix. The information time sequence of each sensor and the information time sequence of the data fusion filter please refer to Figure 3 and Figure 4 .

[0059] (a) Equation of state construction

[0060] The state quantity of the data fusion filter is a 20-dimensional model, specifically:

[0061]

[0062] In the above formula, X represents the state quantity, φ n ,φ u ,φ e represents the east misalignment angle of the north sky (unit: rad), δV n ,δV u ,δV e represents the east velocity error of the north sky (unit: m / s), represents the latitude error (unit: rad), δh represents the height error (unit: m), δλ represents the longitude error (unit: rad), ε x ,ε y ,ε z represents the gyro drift of the carrier XYZ (unit: rad / s), represents the accelerometer zero offset of the carrier XYZ (unit: m / s 2 ), Δψ Lidar_odo represents the heading installation error of the laser radar odometer (unit: rad), ΔK odo represents the odometer scale factor error, ΔT odo represents the odometer time delay (unit: s), ΔT Lidar_odo represents the laser radar odometer time delay (unit: s), ΔT ETS represents the total station time delay (unit: s).

[0063]

[0064] In the above formula, W INS represents the system noise matrix, F INS represents the state transition matrix.

[0065] F INS = A,

[0066] wherein:

[0067] A(1,2) = -V n / (R M +h) A(4,13) = C 11

[0068]

[0069] A(1,6) = 1 / (R N +h) A(4,15) = C 13

[0070]

[0071]

[0072] A(1,11) = -C 12 A(5,4) = 2V n / (R M +h)

[0073]

[0074]

[0075]

[0076]

[0077]

[0078]

[0079]

[0080]

[0081]

[0082]

[0083]

[0084] A(3,10) = -C 31 A(6,13) = C 31

[0085] A(3,11) = -C 32 A(6,14) = C 32

[0086] A(3,12) = -C 33 A(6,15) = C 33

[0087]

[0088]

[0089]

[0090]

[0091]

[0092] All other terms in matrix A are 0.

[0093] In the above formula, V n V u V e R represents the northward velocity, the upward velocity, and the eastward velocity measured by the inertial navigation system, respectively. M R N C represents the principal curvature radius of the meridional plane and the curvature radius of the trochanteric plane, respectively. ij Represents the attitude transition matrix The element in the i-th row and j-th column, The following represent the specific forces in the n-system during the navigation cycle, respectively. The inertial navigation system (INS) represents the latitude measured in degrees (°), and h represents the altitude measured by the INS. ω ie This represents the Earth's angular rate of rotation, measured in rad / s.

[0094] (b) Observational calculations

[0095] In this invention, the observations of the data fusion filter are:

[0096]

[0097] In the above formula, Z represents the observed quantity. This indicates the latitude measured by the inertial navigation system. The latitude is represented by the total station, and the altitude by the inertial navigation system. λ represents the altitude measured by the total station, and λ represents the longitude measured by the inertial navigation system. V represents the longitude measured by the total station. n V represents the northward velocity measured by the inertial navigation system. e This represents the eastward velocity measured by the inertial navigation system. This indicates the northbound speed measured by the odometer. This indicates the eastward speed measured by the odometer. and The following numbers represent the X-axis displacement of the inertial navigation system. and The X-axis, Y-axis, and Z-axis displacements of the lidar odometer system are represented by the following formulas:

[0098]

[0099] in, h0 represents the latitude of the vehicle's starting point, h0 represents the altitude of the vehicle's starting point, and λ0 represents the longitude of the vehicle's starting point. This represents the transformation matrix from the geographic coordinate system to the carrier coordinate system.

[0100] (c) measurement matrix calculation

[0101] In the present application, the measurement matrix of the data fusion filter is:

[0102]

[0103] wherein H1=I 3×3 ,

[0104]

[0105] In the above formula, H(t) represents the measurement matrix, I 3×3 represents a 3x3 unit matrix, V u represents the skyward velocity measured by the inertial navigation device, R M represents the meridian plane principal curvature radius, R N represents the colatitude circle curvature radius, ΔV n represents the difference between the northward velocities measured by the inertial navigation device at two adjacent times, ΔV e represents the difference between the eastward velocities measured by the inertial navigation device at two adjacent times, represents the attitude transition matrix, represents the inverse of the attitude transition matrix. ΔV n and ΔV e are expressed as follows:

[0106]

[0107] wherein, represents the northward velocity measured by the inertial navigation device at time k and the northward velocity at time k-1 respectively, represents the eastward velocity measured by the inertial navigation device at time k and the eastward velocity at time k-1 respectively.

[0108] (d) time update

[0109]

[0110]

[0111]

[0112] (e) measurement update

[0113]

[0114]

[0115]

[0116] (f) Attitude Computation

[0117]

[0118]

[0119] θ = arcsin C 12 , θ e (-90°, 90°)

[0120]

[0121]

[0122] In the above formula, q k represents an element of a quaternion Q matrix, θ represents a pitch angle, γ represents a roll angle, and ψ represents a heading angle, γ tmp represents a temporary calculation value of a roll angle, ψ tmp represents a temporary calculation value of a heading angle, Δθ0 represents a three-axis angle increment vector sum, and Δθ represents a three-axis angle increment vector.

[0123] (g) Velocity Update

[0124]

[0125] (h) Position Update

[0126] P n (k) = P n (k-1) + T n · V n (k)

[0127] In addition, in the embodiment of the present application, the filter parameters are as follows:

[0128] R matrix: adaptive observation vector noise matrix

[0129]

[0130] Wherein:

[0131] R ETS_p = K ETS × 0.01 × 0.01,

[0132] R odo_v = K odo × 0.1 × 0.1,

[0133] R Lidarodo_p = K Lidarodo_p × 0.5 × 0.5,

[0134] K ETS , K odo , K Lidarodo_pAdjusting parameters dynamically for R matrix.

[0135] P matrix: state vector error covariance matrix

[0136] P = [0.2m 0.2m 0.2m 0.1m / s 0.1m / s 0.1m / s 0.02° 0.05° 0.02° 0.001° / h 0.001° / h 0.001° / h 50ug 50ug 50ug 0.05° 0.0020.2s 0.2s 0.1s]

[0137] Q matrix: state vector system noise matrix

[0138] Q = [0.0m 0.0m 0.0m 0.0m / s 0.0m / s 0.0m / s 0.001° 0.001° 0.001° 0.001° / h 0.0° / h 0.0° / h 0.5ug 0.5ug 0.5ug 0.0° 0.00.0s 0.0s 0.0s]

[0139] According to another aspect of the present application, there is provided an underground space navigation positioning system, the navigation positioning system comprising a display control terminal, a total station, a positioning prism, a laser radar odometer, an odometer, an inertial navigation device and an information processor, the total station being arranged in the underground space, the total station, the positioning prism, the laser radar odometer, the odometer, the inertial navigation device and the information processor all being arranged on a moving target;

[0140] The display control terminal is used to control the total station to perform autonomous station setting in the underground space;

[0141] The total station is used to acquire first position information of the moving target by automatically tracking the positioning prism;

[0142] The laser radar odometer is used to acquire first speed information of the moving target;

[0143] The odometer is used to acquire second speed information of the moving target;

[0144] The inertial navigation device is used to solve attitude information, third speed information and second position information of the moving target;

[0145] The information processor is used to establish a data fusion filter according to the first position information, the first speed information, the second speed information, the attitude information, the third speed information and the second position information, and to obtain a combined navigation positioning result and a navigation precision self-evaluation result of the moving target through Kalman filtering;

[0146] The display control terminal is further used to adjust light intensity and search intensity of the total station according to the combined navigation positioning result and the navigation precision self-evaluation result to improve navigation positioning precision.

[0147] The foregoing exemplary description about the navigation positioning system refers to the foregoing exemplary description about the navigation positioning method, and will not be described herein. In this way, the underground space navigation positioning system is provided, which can realize real-time high-precision positioning and navigation of underground spaces such as mines and tunnels, and the navigation positioning precision can reach centimeter level and will not be affected by dust and complex structures in underground spaces.

[0148] In summary, the underground space navigation positioning method and navigation positioning system are provided, the method sets the positioning prism, the laser radar odometer, the inertial navigation device, the odometer and the information processor on the moving target, controls the total station to perform autonomous station setting in the underground space through the display control terminal, uses the total station to automatically track the positioning prism to obtain the first position information of the moving target, uses the laser radar odometer and the odometer to respectively obtain the first speed information and the second speed information of the moving target, uses the inertial navigation device to obtain the second position information, the third speed information and the attitude information of the moving target, establishes the data fusion filter according to the information measured by the sensors, and obtains the combined navigation positioning result and the navigation precision self-evaluation result of the moving target through Kalman filtering, and at the same time, the display control terminal adjusts the search intensity of the light intensity of the total station according to the Kalman filtering result, and further improves the navigation positioning precision. The method can realize real-time high-precision positioning and navigation of underground spaces such as mines and tunnels, and the navigation positioning precision can reach centimeter level and will not be affected by dust and complex structures in underground spaces. Compared with the prior art, the technical scheme of the present application can solve the technical problems of low navigation positioning precision, poor real-time performance and easy influence of complex underground environment in the prior art.

[0149] In the description of the present application, it should be understood that the orientation words such as "front, rear, upper, lower, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate and imply that the indicated device or element must have a particular orientation or be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the protection scope of the present application; the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component.

[0150] For purposes of the description hereinafter, the terms "upper", "lower", "right", "left", "rear", "front", "vertical" and "horizontal" as can be perceived herein relative to the accompanying drawings refer to the orientation of the components being described. However, it is to be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device described herein relative to the other device or structure is inverted, then a spatially relative term such as "above" can be interpreted as meaning "below" or "below" can be interpreted as meaning "above". The device can also be oriented in other ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0151] In addition, it should be pointed out that the use of the terms "first", "second" and the like in connection with various elements is merely intended for identification, and does not constitute a special meaning, and therefore cannot be interpreted as a limitation on the scope of protection of the present application.

[0152] The preferred embodiments of the present application are described above in detail. The present application, however, is not limited to the above embodiments, but can be variously modified and changed by those skilled in the art without departing from the scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the present application.

Claims

1. A method for navigating and positioning in an underground space, characterized by, The navigation positioning method comprises: controlling the total station to independently set up in the underground space through the display control terminal; acquiring first position information of the moving target by automatically tracking the positioning prism arranged on the moving target through the total station; acquiring first speed information of the moving target through the laser radar odometer, acquiring second speed information of the moving target through the odometer, and acquiring attitude information, third speed information and second position information of the moving target through the inertial navigation device, wherein the laser radar odometer, the odometer and the inertial navigation device are arranged on the moving target; establishing a data fusion filter according to the first position information, the first speed information, the second speed information, the attitude information, the third speed information and the second position information through the information processor arranged on the moving target, and obtaining a combined navigation positioning result and a navigation accuracy self-evaluation result of the moving target through Kalman filtering; adjusting light intensity and search intensity of the total station through the display control terminal according to the combined navigation positioning result and the navigation accuracy self-evaluation result to improve navigation positioning accuracy.

2. The positioning method according to claim 1, characterized in that, The attitude information comprises a north-sky east misalignment angle, the first speed information, the second speed information and the third speed information all comprise north-sky east speed, and the first position information and the second position information all comprise longitude, latitude and height.

3. The positioning method according to claim 2, characterized in that, The combined navigation positioning result comprises attitude of the moving target, speed of the moving target and position of the moving target.

4. The positioning method according to claim 3, characterized in that, The navigation accuracy self-evaluation result comprises longitude error, latitude error and height error.

5. The positioning method of claim 4, wherein, State quantity of the data fusion filter is: In the above formula, X represents a state quantity, φ n ,φ u ,φ e represents the east declination of the north sky, δV n ,δV u ,δV e represents the east velocity error of the north sky, represents the latitude error, δh represents the altitude error, δλ represents the longitude error, ε x ,ε y ,ε z represents the gyro drift of the carrier XYZ, Δψ Lidar_odo represents the north declination of the carrier XYZ, Δψ odo represents the heading installation error of the laser radar odometer, ΔK odo represents the odometer scale factor error, ΔT Lidar_odo represents the odometer time delay, ΔT ETS represents the laser radar odometer time delay, ΔT n represents the total station time delay.

6. The positioning method according to claim 5, characterized in that, Observation quantity of the data fusion filter is: In the above formula, Z represents an observation, represents a latitude measured by the inertial navigation device, represents a latitude measured by the total station, and h represents a height measured by the inertial navigation device, represents a height measured by the total station, and λ represents a longitude measured by the inertial navigation device, represents a longitude measured by the total station, and V n represents a northward velocity measured by the inertial navigation device, e represents an eastward velocity measured by the inertial navigation device, represents a northward velocity measured by the odometer, represents an eastward velocity measured by the odometer, and represents a displacement of the X-axis of the inertial navigation device, and represents a displacement of the X-axis, a displacement of the Y-axis, and a displacement of the Z-axis of the laser radar odometer, respectively.

7. The positioning method of claim 6, wherein, Measurement matrix of the data fusion filter is: H1= I 3×3 , In the above formula, H(t) represents a measurement matrix, I 3×3 represents a 3 x 3 unit matrix, V u represents a skyward velocity measured by the inertial navigation device, R M represents a meridian plane principal curvature radius, R N represents a colatitude circle curvature radius, ΔV n represents a difference between northward velocities measured by the inertial navigation device at two adjacent times, ΔV e represents a difference between eastward velocities measured by the inertial navigation device at two adjacent times, represents a posture transfer matrix, represents an inverse of the posture transfer matrix.

8. An underground space navigation positioning system characterized by, The navigation positioning system comprises a display control terminal, a total station, a positioning prism, a laser radar odometer, an odometer, an inertial navigation device and an information processor, the total station is arranged in the underground space, and the total station, the positioning prism, the laser radar odometer, the odometer, the inertial navigation device and the information processor are all arranged on the moving target; The display control terminal is used for controlling the total station to independently set up in the underground space; The total station is used for acquiring first position information of the moving target by automatically tracking the positioning prism; The laser radar odometer is used for acquiring first speed information of the moving target; The odometer is used for acquiring second speed information of the moving target; The inertial navigation device is used for calculating attitude information, third speed information and second position information of the moving target; The information processor is used for establishing a data fusion filter according to the first position information, the first speed information, the second speed information, the attitude information, the third speed information and the second position information, and obtaining a combined navigation positioning result and a navigation accuracy self-evaluation result of the moving target through Kalman filtering; The display control terminal is also used for adjusting light intensity and search intensity of the total station according to the combined navigation positioning result and the navigation accuracy self-evaluation result to improve navigation positioning accuracy.

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