A roadway heading machine positioning and navigation system and method

Abstract

The application discloses a kind of roadway heading machine positioning navigation systems, including reflecting prism, for reflecting the photoelectric signal that total station sends;Total station, total station is used to track the photoelectric signal that reflecting mirror sends in real time;Inertial navigation system, inertial navigation system is used to navigate the heading pose of heading machine in real time and record the real-time heading data of heading machine;Communication module, communication module is used to wirelessly or wiredly receive the data obtained by total station, inertial navigation system, and is transmitted to data solution system in real time;Data solution system is provided with data solution computer and solution model, when carrying out data solution, the solution model is called by data solution computer and data solution is carried out by combining Kalman filtering algorithm, and the data solved is transmitted to the controller of heading machine and is carried out heading machine advancing pose and direction feedback regulation, realize the pose calculation, accurate positioning and navigation of heading machine in roadway.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring machine positioning and navigation technology, and in particular to a tunnel boring machine positioning and navigation system and method. Background Technology

[0002] Tunnel boring machine (TBM) operations take place in confined underground spaces, and its positioning and detection technology falls under the category of indoor navigation and positioning. Based on different detection technology approaches, researchers have proposed commonly used positioning technologies including machine vision positioning, ultrasonic positioning, radio positioning (ultra-wideband), laser target positioning, and inertial navigation positioning.

[0003] Among these methods, those based on laser pointers and total stations require multiple signal reflectors to be installed on the tunneling machine body. The position and attitude of the vehicle can only be determined after all reflected signals are received, making continuous dynamic measurement difficult. The sensitivity of machine vision to ambient light and dust is particularly pronounced in tunneling equipment positioning and attitude determination technology, and this method is currently still in the laboratory research stage. Inertial navigation positioning technology, with fiber optic gyroscopes and accelerometers as the core components of strapdown inertial navigation systems, relies on these components. Gyroscopes directly sense the vehicle's attitude, while accelerometers directly sense its acceleration. However, due to the inherent measurement errors in the inertial measurement unit (IMU), the positioning and orientation errors of the inertial navigation system accumulate over time, hindering long-term high-precision navigation. This method also suffers from long-term zero-point drift.

[0004] While these positioning methods have solved the positioning and attitude determination problems of tunnel boring machines to some extent, their adaptability and robustness to the harsh environments during tunnel excavation remain poor. After a long period of operation, the positioning accuracy of the tunnel boring machine can no longer meet the requirements of intelligent unmanned mining. Summary of the Invention

[0005] To address some or all of the technical problems existing in the prior art, the present invention provides a positioning and navigation system and method for tunnel boring machines, which can perform long-term positioning and navigation of tunnel boring machines in tunnels, and has good adaptability and robustness.

[0006] The technical solution of the present invention is as follows:

[0007] On one hand, the present invention provides a positioning and navigation system for a tunnel boring machine, comprising:

[0008] A reflective prism, which is located at the tail of the tunneling machine, is used to reflect the photoelectric signals emitted by the total station;

[0009] A total station, which is installed inside the tunnel in which the tunneling machine travels, is used to track the photoelectric signals emitted by the reflective prism in real time;

[0010] An inertial navigation system is installed inside the electrical control box of the tunneling machine and is used to navigate and position the tunneling machine's heading attitude in real time and record the tunneling machine's real-time heading data.

[0011] The communication module has at least two components, one of which is located on one side of the total station and the other on one side of the inertial navigation system. The communication module is used to receive data acquired by the total station and the inertial navigation system wirelessly or via wired connection, and to transmit the data to the data processing system and broadcast it in real time.

[0012] The data processing system includes a data processing computer and a processing model. During data processing, the data processing computer calls the processing model and combines it with the Kalman filter algorithm to process the data. The processed data is then transmitted to the controller of the tunneling machine for feedback adjustment of the tunneling machine's attitude and direction, thereby realizing the position calculation and precise positioning of the tunneling machine in the tunnel.

[0013] Furthermore, the inertial navigation system includes an inertial measurement unit and a data acquisition unit;

[0014] The inertial measurement unit is used to collect angle and acceleration data of the tunnel boring machine in the roadway;

[0015] The data acquisition unit is used to process and convert the angle and acceleration data measured by the inertial measurement unit.

[0016] Furthermore, the inertial measurement unit includes an accelerometer and a gyroscope, both of which include data for monitoring the X, Y, and Z directions.

[0017] Furthermore, the data acquisition unit includes an analog-to-digital converter and a signal acquisition unit;

[0018] The analog-to-digital converter is electrically connected to the accelerometer in the inertial measurement unit, and is used to convert the acceleration signal measured by the accelerometer into a digital signal and transmit it to the communication module;

[0019] The signal acquisition unit is electrically connected to the gyroscope in the inertial measurement unit, and is used to acquire the angle measured by the gyroscope and transmit it to the communication module.

[0020] Furthermore, when the communication module terminal uses wireless data transmission, it employs a KT623-F2 WiFi 6 base station to broadcast the original data of the total station system.

[0021] Furthermore, the total station is positioned on the central axis of the tunnel.

[0022] On the other hand, the present invention provides a positioning and navigation method for a tunnel boring machine, which uses the tunnel boring machine positioning and navigation system for positioning and navigation.

[0023] Specifically, the present invention provides a positioning and navigation method for a tunnel boring machine, comprising:

[0024] Acquire the travel data of the tunnel boring machine in the tunnel and establish a three-dimensional model of the actual travel posture and direction of the tunnel boring machine in the tunnel;

[0025] Call the ideal data model of the tunneling machine's ideal posture and direction as it moves in the tunnel;

[0026] The tunnel boring machine's travel posture and direction are compared between the actual 3D model of its travel posture and direction and the ideal data model of its ideal posture and direction.

[0027] If the actual posture and direction of the tunneling machine moving in the tunnel are consistent with the posture and direction in the preset ideal data model of the tunneling machine moving in the tunnel, then no feedback adjustment is required; if they are inconsistent or there is a deviation, then feedback adjustment is required.

[0028] Furthermore, the method for establishing the three-dimensional model is as follows:

[0029] The initial latitude, longitude, and attitude angle of the tunnel boring machine are measured by the inertial navigation system. The tunnel boring machine is then initially aligned based on the initial latitude and longitude to obtain the initial transformation matrix of the tunnel boring machine's travel posture and direction.

[0030] Using two coordinate points in the geographic coordinate system along the centerline of the coal mine tunnel boring machine's travel direction, a coordinate system for the digital total station is established. The origin of the reference coordinate system established by the total station's station center is used as a reference point to determine the location of the tunnel boring machine.

[0031] Acquire real-time data during the tunnel boring machine's movement and establish a transformation matrix during the tunnel boring machine's movement;

[0032] The initial matrix and the transformation matrix during the journey are solved. Combined with the position data of the tunneling machine determined with the origin of the coordinate system as the reference point, the position, velocity and attitude data of the tunneling machine are fused using the Kalman filter algorithm to obtain a three-dimensional model of the tunneling machine at the moment of its journey.

[0033] Furthermore, when comparing the actual attitude and direction of the tunneling machine in the tunnel with the preset attitude and direction of the tunneling machine, if the compared attitude data and direction data are consistent with the preset data or within the preset data deviation range, or if the compared model attitude and direction curves are the same, it indicates that the direction of travel is consistent with the preset attitude and direction. If the compared attitude data and direction data deviate from the preset data or exceed the preset data deviation range, or if the compared model attitude and direction curves are different, it indicates that they are inconsistent and feedback adjustment is required to make the actual direction of travel of the tunneling machine consistent with the preset direction and attitude.

[0034] The main advantages of the technical solution of this invention are as follows:

[0035] This invention discloses a positioning and navigation system for a tunnel boring machine (TBM). The system utilizes an inertial measurement unit (IMU) within an inertial navigation system to measure TBM data, and a data acquisition unit to collect data from the IMU. The collected data is then transmitted to a communication module for processing and broadcasting. Simultaneously, a reflective prism reflects photoelectric signals emitted by a total station, transmitting the geographic location information in real-time to the communication module. This information is then output to the control terminal of a data processing computer. The computer uses a preset calculation model and a Kalman filter algorithm to calculate the TBM's attitude and heading within the tunnel. The calculated data is transmitted to the TBM's controller for feedback adjustment of the TBM's attitude and direction, correcting any deviations. This system achieves accurate positioning and robustness of the TBM within the tunnel. Attached Figure Description

[0036] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and constitute a part of this invention, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0037] Figure 1 This is a schematic diagram of the positioning and navigation system for a tunnel boring machine according to the present invention;

[0038] Figure 2 This is a flowchart illustrating a positioning and navigation method for a tunnel boring machine according to the present invention. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0040] The technical solutions provided by the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0041] Example 1

[0042] As attached Figure 1 As shown, an embodiment of the present invention provides a positioning and navigation system for a tunnel boring machine, the system comprising:

[0043] A reflective prism is installed at the tail of the tunneling machine to reflect the photoelectric signals emitted by the total station.

[0044] The total station is installed inside the tunnel through which the tunneling machine travels to track the photoelectric signals emitted by the reflector in real time. The total station can also track the reflector on the tunneling machine in real time to measure the machine's position parameters. The measured parameters are broadcast to the data processing computer in real time through the tunneling face data transmission system.

[0045] An inertial navigation system is installed inside the tunnel boring machine's electrical control box. It is used for real-time navigation and positioning of the tunnel boring machine's heading and attitude, and records the real-time heading data of the tunnel boring machine. The acquired data is then transmitted to the data processing system. The inertial navigation system also includes a system for high-precision attitude and heading measurement of the tunnel boring machine, which calculates the position and attitude of the tunnel boring machine. The measurement parameters are also broadcast to the data processing computer in real time through the tunneling face data transmission system.

[0046] The communication module has at least two components: one is located on one side of the total station, and the other is located on the other side of the inertial navigation system. These components are used to receive data from the total station and the inertial navigation system wirelessly or via wired connection, transmit the data to the data processing system in real time, and perform automatic processing operations such as data transmission, processing, or broadcasting after transmission to the data processing system.

[0047] In some optional implementations of this embodiment, the number of communication modules includes, but is not limited to, two, and can also be set to multiple. Multiple communication modules can be set around the total station and inertial navigation module according to actual needs, or integrated into one. The specific number depends on the actual use.

[0048] Specifically, the data broadcast is the raw data acquired by the communication module. As an option, the communication module can be installed on the body of the tunneling machine to complete the inertial navigation system data broadcast, or the communication module can be installed around the total station to complete the total station system data broadcast.

[0049] The data processing system includes a data processing computer and a processing model. During data processing, the data processing computer calls the processing model and combines it with the Kalman filter algorithm to process the data. The processed data is then transmitted to the controller of the tunneling machine for feedback adjustment of the tunneling machine's travel posture and direction, thereby realizing the position calculation and precise positioning of the tunneling machine in the tunnel.

[0050] Specifically, the solution model includes the error models of the inertial navigation system and total station, as well as the state equations and measurement equations of the combined positioning and orientation system. A Kalman filter is used to fuse these two sets of data, outputting the precise pose information of the tunnel boring machine in real time, thus achieving accurate positioning and orientation of the machine.

[0051] In some optional implementations of this embodiment, when the data processing computer in the data processing system is performing data processing, the control terminal of the data processing computer and the output terminal of the communication module are connected via a wired serial port (an example is given using a wired connection).

[0052] When using a data processing computer to process the data, the data acquired by the inertial navigation system and the data received by the total station are transmitted to the data processing computer via serial communication. The total station data is then used by the processing computer to perform position calibration. After coordinate transformation, the position data of the tunneling machine is obtained. Combined with the data acquired by the inertial navigation system, a pre-established calculation model is called, and the acquired data is processed using a Kalman filter algorithm to obtain the positioning and orientation data required by the inertial navigation system. Based on the positioning and orientation data, the inertial navigation system achieves precise alignment. This precise alignment allows the acquisition of the tunneling machine's geographical location (latitude and longitude). The acquired latitude and longitude data is then converted into position and angle data by a converter to reflect the tunneling machine's positioning and orientation. The converted position and angle data are then processed a second time using a Kalman filter algorithm to obtain the tunneling machine's position, attitude, and heading angle data, achieving precise positioning of the tunneling machine in the tunnel.

[0053] Specifically, the inertial navigation system also includes a data processor for auxiliary data and signal processing, as well as a mathematical calculation platform. When calculating the position, orientation, and attitude of the tunnel boring machine in the roadway, the inertial navigation system converts the acceleration of the vehicle measured by the accelerometer into displacement through a double integration method, and then transforms it into the reference coordinate system established by the gyroscope in the navigation process, thereby obtaining the velocity, attitude angle, and position information of the tunnel boring machine in the navigation coordinate system.

[0054] Alternatively, the communication module can be wirelessly connected to the data processing computer.

[0055] Preferably, the total station is a total station laser instrument.

[0056] Specifically, during coordinate system establishment, the laser beam from the total station is reflected by a prism to form a spot, which is then received by the built-in CCD camera. Using two coordinate points in the geographic coordinate system along the centerline of the coal mine roadway, the total station establishes its own coordinate system based on the coordinates of these two points. The location of the tunneling machine is determined using the reference coordinate system established by the center of the total station as a reference point.

[0057] It should be noted that the coordinate points in the two geographic coordinate systems include, but are not limited to, the front, back, left, right, and up or down directions within the tunnel. The selected points are chosen and determined according to the actual application process.

[0058] As an alternative, the number of reflective prisms may include, but is not limited to, one, or multiple prisms may be set at the tail of the coal mining machine. When there are multiple prisms, they are evenly distributed at the tail of the coal mining machine.

[0059] Specifically, an inertial navigation system includes an inertial measurement unit and a data acquisition unit;

[0060] The inertial measurement unit is used to collect angle and acceleration data (or speed data of the tunneling machine) in the tunnel.

[0061] The data acquisition unit is used to process and convert the angle and acceleration data measured by the inertial measurement unit.

[0062] Specifically, the inertial measurement unit includes an accelerometer and a gyroscope, both of which include data for monitoring the X, Y, and Z directions.

[0063] In practical applications, a coordinate system can be established based on the data in the X, Y, and Z directions, or the data in these three directions can be used as the basis for establishing an ideal model.

[0064] Specifically, the data acquisition unit includes an analog-to-digital converter and a signal acquisition unit;

[0065] The analog-to-digital converter is electrically connected to the accelerometer in the inertial measurement unit to convert the acceleration signal measured by the accelerometer into a digital signal and transmit it to the communication module.

[0066] The signal acquisition unit is electrically connected to the gyroscope in the inertial measurement unit to acquire the angle measured by the gyroscope and transmit it to the communication module.

[0067] Specifically, when the communication module terminal uses wireless data transmission, the KT623-F2 WiFi6 base station is used to broadcast the raw data of the total station system.

[0068] Specifically, the total station is set on the central axis of the tunnel.

[0069] Preferably, the total station is positioned at the top of the central axis of the tunneling machine's movement.

[0070] In summary, the tunnel boring machine positioning and navigation system of the present invention measures the tunnel boring machine data through the inertial measurement unit in the inertial navigation system and collects the data from the inertial measurement unit through the data acquisition unit. The collected data is then transmitted to the communication module for processing and broadcasting. Simultaneously, the geographical location information is reflected by a reflective prism and transmitted in real time to the communication module via the total station. The data is then output to the control terminal of the data processing computer. The received data is processed by the data processing computer using a preset calculation model and a Kalman filter algorithm to calculate the position and heading of the tunnel boring machine in the tunnel. The calculated data is then transmitted to the controller of the tunnel boring machine for feedback adjustment of the machine's travel attitude and direction, and correction of travel deviations. This system achieves accurate position calculation and positioning of the tunnel boring machine in the tunnel, demonstrating good robustness and adaptability.

[0071] Example 2

[0072] The present invention provides a positioning and navigation method for a tunnel boring machine, which uses the tunnel boring machine positioning and navigation system for positioning and navigation.

[0073] Specifically, the present invention provides a positioning and navigation method for a tunnel boring machine, such as... Figure 2 As shown, it includes:

[0074] Acquire the travel data of the tunnel boring machine in the tunnel and establish a three-dimensional model of the actual travel posture and direction of the tunnel boring machine in the tunnel;

[0075] Call the ideal data model of the tunneling machine's ideal posture and direction as it moves in the tunnel;

[0076] The tunnel boring machine's travel posture and direction are compared between the actual 3D model of its travel posture and direction and the ideal data model of its ideal posture and direction.

[0077] If the actual posture and direction of the tunneling machine moving in the tunnel are consistent with the posture and direction in the preset ideal data model of the tunneling machine moving in the tunnel, then the positioning of the tunneling machine in the tunnel can be regarded as high precision and no feedback adjustment is required; if they are inconsistent or there is a deviation, it is regarded as low precision and feedback adjustment is required.

[0078] Specifically, the travel data acquired by the tunnel boring machine in the tunnel includes the pose data and travel direction data of the tunnel boring machine traveling in the tunnel. The pose data can be acquired by an accelerometer, and the travel direction data can be acquired by a gyroscope, or a combination of the two.

[0079] This setup uses gyroscopes and accelerometers to acquire the position and orientation data of the tunneling machine traveling in the tunnel, reducing the amount of computation and mitigating the shortcomings of inaccurate angle measurement and high computational load in existing technologies that use angle measuring instruments.

[0080] Specifically, the method for establishing the 3D model is as follows: The initial latitude, longitude, and attitude angle of the tunneling machine are measured using an inertial navigation system. The tunneling machine is initially aligned based on the initial latitude and longitude to obtain the initial transformation matrix of its travel posture and direction. A coordinate system of a digital total station is established using two coordinate points in the geographic coordinate system along the centerline of the tunneling machine's travel direction. The origin of the reference coordinate system established by the total station center is used as a reference point to determine the location of the tunneling machine. Real-time data during the tunneling machine's travel is acquired, and a transformation matrix is ​​established for the travel process. The initial matrix and the transformation matrix during travel are solved. Combined with the position data determined by using the origin of the coordinate system as a reference point, the position, velocity, and attitude data of the tunneling machine are fused using a Kalman filter algorithm to obtain a 3D model with precise positioning of the tunneling machine at the moment of travel.

[0081] It should be noted that the real-time travel data of the tunneling machine was obtained through an inertial navigation system combined with a total station and a reflecting prism.

[0082] In some optional implementations of this embodiment, the latitude and longitude of the tunnel boring machine's location are first measured using an inertial navigation system. The inertial navigation system performs initial alignment based on the initial latitude and longitude to obtain an initial transformation matrix. As the tunnel boring machine moves, the inertial navigation system combines the initial latitude and longitude and initial attitude angles of the tunnel boring machine to measure its position and velocity in real time. Secondly, Kalman filtering is used to fuse the position, velocity, and attitude angle information measured by the strapdown inertial navigation system with the tunnel boring machine position information measured by the total station to obtain the tunnel boring machine's attitude information.

[0083] Furthermore, when comparing the actual attitude and direction of the tunneling machine in the tunnel with the preset attitude and direction of the tunneling machine, if the compared attitude data and direction data are consistent with the preset data or within the preset data deviation range, or if the compared model attitude and direction curves are the same, it indicates that the direction of travel is consistent with the preset attitude and direction. If the compared attitude data and direction data deviate from the preset data or exceed the preset data deviation range, or if the compared model attitude and direction curves are different, it indicates that they are inconsistent and feedback adjustment is required to make the actual direction of travel of the tunneling machine consistent with the preset direction and attitude.

[0084] Specifically, the preset data deviation range is ±2% of the preset maximum and minimum data values.

[0085] In some optional implementations of this embodiment, the following examples illustrate how the present invention achieves high-precision tunneling navigation and positioning:

[0086] Specifically, when using the method of the present invention to navigate and position a tunnel boring machine in a roadway:

[0087] Based on the real-time position, attitude, and heading data of the tunneling machine obtained by the data processing system, the data is displayed in real time in the tunneling machine 3D simulation software, and the tunneling machine's travel route and 3D model of the tunnel are generated. By comparing and analyzing the 3D model of the tunnel generated during the tunneling process with the tunnel engineering design model, the tunneling deviation is calculated.

[0088] Based on the current three-dimensional attitude and travel deviation of the tunneling machine, the change in the cross-sectional shape boundary and the attitude adjustment amount when the tunneling machine cuts the next section are calculated, and a section cutting guidance diagram is generated. The data calculation system transmits the section operation guidance diagram to the tunneling machine control system through the communication module terminal in accordance with Modbus TCP protocol data packets.

[0089] At the same time, the tunneling machine control system corrects the tunneling posture and the tunnel cross-section forming effect according to the given correction amount.

[0090] It should be noted that during navigation and positioning, the above closed-loop process runs cyclically to achieve precise positioning and navigation of the tunneling machine in the tunnel.

[0091] In summary, the tunnel boring machine positioning and navigation method of the present invention can perform positioning and navigation through a navigation and positioning system, and can also provide feedback adjustment on the tunnel boring machine's traveling posture and direction, correct traveling deviations, realize the posture calculation and accurate positioning of the tunnel boring machine in the tunnel, realize long-term positioning of the tunnel boring machine in the tunnel, and has high positioning accuracy, robustness and good adaptability.

[0092] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Additionally, the terms "front," "back," "left," "right," "upper," and "lower" in this document refer to the placement shown in the accompanying drawings.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A positioning and navigation system for a tunnel boring machine, characterized in that, include: A reflective prism, which is located at the tail of the tunneling machine, is used to reflect the photoelectric signals emitted by the total station; A total station, which is installed inside the tunnel in which the tunneling machine travels, is used to track the photoelectric signals emitted by the reflective prism in real time; An inertial navigation system is installed inside the electrical control box of the tunneling machine and is used to navigate and position the tunneling machine's heading attitude in real time and record the tunneling machine's real-time heading data. The communication module has at least two components, one of which is located on one side of the total station and the other on one side of the inertial navigation system. These components are used to receive data acquired by the total station and the inertial navigation system wirelessly or via wired connection, and transmit the data to the data processing system in real time. The data processing system includes a data processing computer and a processing model. During data processing, the data processing computer calls the processing model and combines it with the Kalman filter algorithm to process the data. The processed data is then transmitted to the controller of the tunneling machine for feedback adjustment of the tunneling machine's travel posture and direction, thereby realizing the posture calculation and precise positioning of the tunneling machine in the tunnel. The solution model includes the error models of the inertial navigation system and total station, as well as the state equations and measurement equations of the combined positioning and orientation system; The inertial navigation system uses an inertial measurement unit (IMU) to measure data from the tunneling machine, and a data acquisition unit to collect data from the IMU. The collected data is then transmitted to a communication module for processing and broadcasting. Simultaneously, a reflective prism reflects the photoelectric signal emitted by the total station, transmitting the geographic location information in real-time to the communication module. This information is then output to the control terminal of the data processing computer. The computer uses a preset calculation model and a Kalman filter algorithm to calculate the tunneling machine's attitude and heading in the tunnel. The calculated data is then transmitted to the tunneling machine's controller for feedback adjustment of the machine's attitude and direction, correcting any deviations and achieving precise positioning and attitude calculation of the tunneling machine within the tunnel.

2. The positioning and navigation system for a tunnel boring machine according to claim 1, characterized in that, The inertial navigation system includes an inertial measurement unit and a data acquisition unit; The inertial measurement unit is used to collect angle and acceleration data of the tunnel boring machine in the roadway; The data acquisition unit is used to process and convert the angle and acceleration data measured by the inertial measurement unit.

3. The positioning and navigation system for a tunnel boring machine according to claim 2, characterized in that, The inertial measurement unit includes an accelerometer and a gyroscope, both of which include data for monitoring the X, Y, and Z directions.

4. The positioning and navigation system for a tunnel boring machine according to claim 2, characterized in that, The data acquisition unit includes an analog-to-digital converter and a signal acquisition unit; The analog-to-digital converter is electrically connected to the accelerometer in the inertial measurement unit, and is used to convert the acceleration signal measured by the accelerometer into a digital signal and transmit it to the communication module; The signal acquisition unit is electrically connected to the gyroscope in the inertial measurement unit, and is used to acquire the angle measured by the gyroscope and transmit it to the communication module.

5. The positioning and navigation system for a tunnel boring machine according to claim 1, characterized in that, When the communication module terminal uses wireless data transmission, it uses a KT623-F2 WiFi 6 base station to broadcast the raw data of the total station system.

6. The positioning and navigation system for a tunnel boring machine according to claim 1, characterized in that, The total station is set on the central axis of the tunnel.

7. A positioning and navigation method for a tunnel boring machine, characterized in that, Positioning and navigation are performed using the tunneling machine positioning and navigation system according to any one of claims 1-6.

8. The method for positioning and navigation of a tunnel boring machine according to claim 7, characterized in that, include: Acquire the travel data of the tunnel boring machine in the tunnel and establish a three-dimensional model of the actual travel posture and direction of the tunnel boring machine in the tunnel; Call upon the preset ideal data model of the ideal posture and direction of the tunneling machine traveling in the tunnel; The tunnel boring machine's travel posture and direction are compared between the actual 3D model and the ideal data model of the ideal posture and direction; If the actual posture and direction of the tunneling machine moving in the tunnel are consistent with the posture and direction in the preset ideal data model of the tunneling machine moving in the tunnel, then no feedback adjustment is required; if they are inconsistent or there is a deviation, then feedback adjustment is required.

9. A positioning and navigation method for a tunnel boring machine according to claim 8, characterized in that, The method for establishing the three-dimensional model is as follows: The initial latitude, longitude, and attitude angle of the tunnel boring machine are measured by the inertial navigation system. The tunnel boring machine is then initially aligned based on the initial latitude and longitude to obtain the initial transformation matrix of the tunnel boring machine's travel posture and direction. Using two coordinate points in the geographic coordinate system along the centerline of the coal mine tunnel boring machine's travel direction, a coordinate system for the digital total station is established. The origin of the reference coordinate system established by the total station's station center is used as a reference point to determine the location of the tunnel boring machine. Acquire real-time data during the tunnel boring machine's movement and establish a transformation matrix during the tunnel boring machine's movement; The initial matrix and the transformation matrix during the journey are solved. Combined with the position data of the tunneling machine determined with the origin of the coordinate system as the reference point, the position, velocity and attitude data of the tunneling machine are fused using the Kalman filter algorithm to obtain a three-dimensional model of the tunneling machine with accurate positioning at the moment of travel.

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