一种自校准的采煤机俯瞰轨迹定位方法与装置
By using self-calibrating inertial navigation and visual positioning technology, the problem of cumulative error in inertial navigation in underground coal mines has been solved, achieving high-precision overhead trajectory positioning of coal mining machines and ensuring the safe and efficient operation of fully mechanized mining faces in underground coal mines.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHEJIANG UNIV
- Filing Date
- 2023-09-26
- Publication Date
- 2026-07-17
AI Technical Summary
Existing inertial navigation and positioning technologies suffer from cumulative errors in underground coal mine applications, failing to meet the positioning requirements of longwall mining faces. Furthermore, the traditional wire-guided method is inefficient and poses safety hazards.
By measuring and compensating the installation angle of the inertial measurement unit of the coal mining machine, combined with extended Kalman filtering and visual positioning technology, strapdown inertial navigation calculation is performed using wheel speed odometer and inertial measurement unit data, and position fusion is performed by combining the road sign images captured by the camera, thus achieving self-calibrated overhead trajectory positioning of the coal mining machine.
It improves the accuracy of the coal mining machine's overhead trajectory positioning, corrects installation angle errors, and ensures high-precision positioning and trajectory tracking of the coal mining machine in underground coal mines.
Smart Images
Figure CN117405103B_ABST