Tunneling equipment navigation installation error measurement method and system

Abstract

The invention belongs to the technical field of roadway tunneling equipment, and provides a method and a system for measuring navigation installation errors of tunneling equipment in order to solve the problem of poor navigation data precision caused by the fact that installation errors are not calibrated during navigation installation of the tunneling equipment at present. The driving distance of the tunneling equipment is obtained through calculation according to the coordinate information, then track calibration parameters are obtained through calculation according to the data, dead reckoning is conducted according to the track calibration parameters and the track pulse change data, and the reckoning driving track of the tunneling equipment is obtained. And comparing the calculated driving track with the driving distance of the tunneling equipment, and calculating a navigation installation error value of the tunneling equipment according to a comparison result. According to the method, the measurement result of the inertial navigation unit is more accurate, and a foundation is laid for the application of the dead reckoning technology in the direction of roadway mining footage and height calculation.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel excavation equipment, and in particular relates to a method and system for measuring navigation installation errors of excavation equipment. Background Art

[0002] As an important mining equipment in the mechanized production process of comprehensive excavation, tunneling equipment is widely used in coal mine tunnel mining and highway tunnel construction. The proportion of comprehensive mechanized tunnel excavation has increased significantly year by year, but it has never been able to keep up with the speed of comprehensive mechanized coal mining, and the contradiction of "excavation and mining imbalance" in coal mine production has become more and more prominent. The realization of intelligent and robotized tunneling is an urgent need of the national coal industry. The posture detection, autonomous navigation, autonomous positioning and automatic walking technologies of tunneling equipment are the only way to achieve less-manned and unmanned tunnel excavation. The application of tunneling equipment navigation is the main basis for realizing the above key technologies and processes. Navigation can accurately measure the posture of tunneling equipment, but due to the installation conditions of the sensor, it is impossible to achieve accurate positioning of the installation angle, resulting in a certain installation error between the navigation measurement data and the real data of the tunneling equipment, which seriously affects the application of other technologies to navigation data. Summary of the invention

[0003] In order to solve at least one of the above-mentioned technical problems existing in the prior art, the present invention provides a method and system for measuring navigation installation errors of tunneling equipment.

[0004] According to a first aspect, a method for measuring navigation installation errors of tunneling equipment is provided, comprising the following steps:

[0005] Obtaining the location where the GPS signal is first received during the travel of the tunneling equipment, recording the first coordinate information of the current location, and the first pulse data;

[0006] Acquire the GPS signal of the tunneling equipment when it reaches the preset target point and during the driving process, obtain the driving trajectory of the tunneling equipment, and record the second coordinate information and the second pulse data when the tunneling equipment reaches the preset target point;

[0007] Based on the first coordinate information and the second coordinate information, the travel distance of the tunneling equipment is calculated, and based on the first pulse data and the second pulse data, the crawler calibration parameters are calculated;

[0008] The pulse change data of the track during the movement of the tunneling equipment is obtained, and the dead reckoning is performed based on the calibration parameters of the track and the navigation data collected by the inertial navigation unit to obtain the estimated driving trajectory of the tunneling equipment, and the estimated driving trajectory is compared with the driving trajectory of the tunneling equipment, and the navigation installation error value of the tunneling equipment is calculated according to the comparison result.

[0009] Preferably, obtaining the pulse change data of the crawler during the travel of the tunneling equipment and performing dead reckoning based on the crawler calibration parameters includes:

[0010] Establish an inertial navigation coordinate system, set the north direction as the Y axis, the east direction as the X axis, and the sky direction as the Z axis, and obtain the attitude matrix of the tunneling equipment coordinate system transformed into the inertial navigation coordinate system in real time based on the navigation data;

[0011] Establishing a tunneling equipment coordinate system, setting the forward direction of the tunneling equipment as the Y axis, the right side of the tunneling equipment as the X axis, and the Z axis coinciding with the Z axis of the inertial navigation coordinate system;

[0012] In the inertial navigation coordinate system, dead reckoning is performed in combination with the attitude matrix, pulse change data and track calibration parameters to obtain the estimated driving trajectory of the tunneling equipment.

[0013] Preferably, the track calibration parameters are:

[0014] t L =S / (L2-L1)

[0015] t R =S / (R2-R1)

[0016] Where S is the travel distance of the tunneling equipment, L1 is the first pulse data of the left track when the GPS signal is first received, L2 is the first pulse data of the left track when the preset target point is reached, R1 is the second pulse data of the right track when the GPS signal is first received, and R2 is the second pulse data of the right track when the preset target point is reached.

[0017] Preferably, the estimated driving trajectory of the tunneling equipment is:

[0018] ΔS L =(L k -L k-1 )×t L

[0019] ΔS R =(R k -R k-1 )×t R

[0020] S D =(ΔS L +ΔS R ) / 2

[0021]

[0022] In the formula, ΔS L ΔS is the distance traveled by the left crawler of the tunneling equipment; Ris the distance traveled by the right crawler of the tunneling equipment; t L is the data collection time of the left crawler of the tunneling equipment; t R The data collection time of the right crawler track of the tunneling equipment; is the estimated driving trajectory of the tunneling equipment in the tunneling equipment coordinate system; L k L is the pulse change data measured by the left crawler odometer of the tunneling equipment at the current moment; k-1 R is the pulse change data measured by the left crawler odometer of the tunneling equipment at the previous moment; k R is the pulse change data measured by the right track odometer of the tunneling equipment at the current moment; k-1 It is the pulse change data measured by the left crawler odometer of the tunneling equipment at the previous moment; The attitude matrix for attitude transformation from the tunneling equipment coordinate system to the inertial navigation coordinate system; S D The distance traveled by the tunneling equipment per unit time; It is the distance matrix of tunneling equipment per unit time in the tunneling equipment coordinate system.

[0023] In this embodiment, it is assumed that the tunneling equipment advances along the Y-axis in the tunneling equipment coordinate system per unit time, and there is no movement in the other two directions. Coordinate transformation is performed by constructing a tunneling equipment unit time advancement distance matrix so that the data in the tunneling equipment coordinate system can be multiplied with the attitude matrix obtained based on the inertial navigation coordinate system to obtain the estimated driving trajectory of the tunneling equipment.

[0024] Preferably, the formula for calculating the navigation installation error value of the tunneling equipment according to the comparison result is:

[0025] y=arctan((N2-N1) / (E2-E1))-arctan(N D / E D )

[0026]

[0027] p=arccos((H2-H1) / S)-arccos(H D / S D )

[0028] Where y is the heading angle installation error, p is the pitch angle installation error, (E1, N1, H1) is the first coordinate information, (E2, N2, H2) is the second coordinate information, S D The distance traveled by the tunneling equipment in a straight line according to dead reckoning.

[0029] Preferably, it also includes:

[0030] Obtain track pulse change data at different times;

[0031] Based on the track pulse change data at different times, the corresponding heading angle installation error, pitch angle installation error and the distance that the tunneling equipment has traveled in a straight line calculated by dead reckoning are calculated, and the corresponding errors at different times are combined to obtain the average value;

[0032] The track calibration parameters are validated based on the average values.

[0033] According to a second aspect, a tunneling equipment navigation installation error measurement system is provided, which can execute the tunneling equipment navigation installation error measurement method as described in the first aspect and any preferred embodiment, including:

[0034] Inertial navigation unit, used to collect heading, pitch and roll angles of tunneling equipment;

[0035] A GPS receiver unit is used to obtain real-time positioning information of the tunneling equipment and calculate the travel distance of the tunneling equipment according to the real-time positioning information;

[0036] The odometer unit is used to measure the rotation of the tracks of the tunneling equipment and calculate the displacement length of the tunneling equipment based on the rotation of the tracks.

[0037] Preferably, the GPS receiver includes at least a first GPS receiver and a second GPS receiver, including:

[0038] The inertial navigation unit is fixedly installed on the tunneling equipment body, the first GPS receiver is installed on the tunneling equipment body, the second GPS receiver is installed above the centering rod, and the odometer unit is fixedly installed on the driving shaft end of the tunneling equipment travel motor.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The present invention provides a method and system for measuring the navigation installation error of tunneling equipment, which combines an inertial navigation unit, a GPS receiver unit and an odometer unit, calculates track calibration parameters, a heading angle installation error and a pitch angle installation error of the inertial navigation unit according to collected data, and then compares the dead reckoning positioning measurement result with the GPS receiver unit measurement result to determine whether the tunneling equipment navigation has an installation error, so that the inertial navigation unit measurement result is more accurate, and also lays a foundation for the application of the dead reckoning technology in the direction of tunnel mining footage and height calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 It is a schematic flow chart of a method for measuring navigation installation errors of tunneling equipment provided by an embodiment of the present invention;

[0043] Figure 2 Schematic diagram of the calculation principle of the heading angle error of the inertial navigation unit provided by an embodiment of the present invention;

[0044] Figure 3 It is a schematic diagram of the pitch angle error calculation principle of the inertial navigation unit provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In conjunction with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0046] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0047] The existing navigation installation of tunneling equipment only places the navigation control box on the body of the tunneling equipment, and the installation process does not use mechanical structures such as the support surface to reduce the installation error angle, resulting in large installation errors in the heading angle and pitch angle. The navigation attitude data can only be used to display the general direction. Other technologies that require high navigation accuracy, such as autonomous walking and navigation positioning, all have the problem of poor use accuracy. Without calibrating the navigation installation error, it will also lead to poor navigation data accuracy. Therefore, in order to solve the above problems, the present invention provides a method and system for measuring the navigation installation error of tunneling equipment to solve the problem of poor navigation measurement accuracy caused by installation.

[0048] The present invention provides a tunneling equipment navigation installation error measurement system, which is used to execute a tunneling equipment navigation installation error measurement method, and comprises: an inertial navigation unit, which is used to collect the heading angle, pitch angle and roll angle attitude of the tunneling equipment; a GPS receiver unit, which is used to obtain the real-time positioning information of the tunneling equipment, and calculate the travel distance of the tunneling equipment according to the real-time positioning information; an odometer unit, which is used to measure the rotation of the track of the tunneling equipment, and calculate the displacement length of the tunneling equipment according to the rotation of the track.

[0049] In this embodiment, the inertial navigation unit is fixedly mounted on the tunneling equipment body, the GPS receiver unit includes at least a first GPS receiver and a second GPS receiver, the first GPS receiver is mounted on the tunneling equipment body, the second GPS receiver is mounted above the centering rod, and the odometer unit is fixedly mounted on the driving shaft end of the tunneling equipment travel motor. In practical applications, the odometer unit can also be fixedly mounted on the driving shaft end of the travel reducer, as long as the crawler rotation data can be collected.

[0050] In this embodiment, the inertial navigation unit is used to collect the heading angle, pitch angle and roll angle of the tunneling equipment, wherein the heading angle is 0° in the north direction and positive in the north-west direction, which is consistent with the direction of the axis of the northeast celestial coordinate system. The centering rod equipped with the second GPS receiver is inserted into the land in an open area, and the positioning information of the tunneling equipment in the northeast celestial coordinate system is obtained in real time through the first GPS receiver and the second GPS receiver and the real-time differential positioning (RTK) measurement technology, and the travel distance of the tunneling equipment is obtained by calculation based on the obtained positioning information. The odometer unit is an absolute encoder, which determines the rotation of the tunneling equipment crawler by measuring the pulse signal, and then calculates the displacement of the tunneling equipment.

[0051] like Figure 1 As shown, the present invention provides a method for measuring navigation and installation errors of tunneling equipment, which is applied to the tunneling equipment navigation and installation error measurement system mentioned in the above embodiment, and includes the following steps:

[0052] S1: Obtain the position where the GPS signal is first received during the movement of the tunneling equipment, and record the first coordinate information of the current position and the first pulse data.

[0053] In this embodiment, the tunneling equipment is driven into the open air and can receive GPS signals. The location where the GPS signal is first received is recorded as point A, and the initial coordinates of point A are marked as (0,0,0). The first GPS receiver displays the first coordinate information of point A as (E1, N1, H1). The odometer unit collects the number of pulses of the left and right tracks of the tunneling equipment to obtain the first pulse data (L1, R1).

[0054] S2: Obtain the GPS signal of the tunneling equipment when it reaches the preset target point and during the driving process, obtain the driving trajectory of the tunneling equipment, and record the second coordinate information when the tunneling equipment drives to the preset target point, as well as the second pulse data.

[0055] In this embodiment, the tunneling equipment is controlled to move in a straight line. When it reaches the preset target point B, the first GPS receiver displays the second coordinate information of point B as (E2, N2, H2), and the odometer unit collects the number of pulses of the left and right tracks of the tunneling equipment to obtain the second pulse data (L2, R2).

[0056] S3: calculating the travel distance of the tunneling equipment based on the first coordinate information and the second coordinate information, and calculating the crawler calibration parameters based on the first pulse data and the second pulse data;

[0057] In this embodiment, the calculation formula for the driving distance of the tunneling equipment is:

[0058]

[0059] In this embodiment, the calculation formula for the track calibration parameters of the left and right tracks of the tunneling equipment is:

[0060] t L =S / (L2-L1)

[0061] t R =S / (R2-R1)

[0062] Where S is the travel distance of the tunneling equipment, L1 is the first pulse data of the left track when the GPS signal is first received, L2 is the first pulse data of the left track when the preset target point is reached, R1 is the second pulse data of the right track when the GPS signal is first received, and R2 is the second pulse data of the right track when the preset target point is reached.

[0063] S4: Acquire the pulse change data of the track during the movement of the tunneling equipment, and perform dead reckoning based on the track calibration parameters and the navigation data collected by the inertial navigation unit to obtain the estimated driving trajectory of the tunneling equipment, and compare the estimated driving trajectory with the driving distance of the tunneling equipment, and calculate the navigation installation error value of the tunneling equipment according to the comparison result.

[0064] Optionally, the pulse change data of the track during the movement of the tunneling equipment is obtained, and dead reckoning is performed based on the track calibration parameters and the navigation data collected by the inertial navigation unit, including: establishing an inertial navigation coordinate system, setting the north direction as the Y axis, the east direction as the X axis, and the sky direction as the Z axis, and acquiring in real time the attitude matrix of the tunneling equipment coordinate system transformed into the inertial navigation coordinate system based on the navigation data; establishing a tunneling equipment coordinate system, setting the forward direction of the tunneling equipment as the Y axis, the right side of the tunneling equipment as the X axis, and the Z axis coinciding with the Z axis of the inertial navigation coordinate system; in the inertial navigation coordinate system, dead reckoning is performed in combination with the attitude matrix, the pulse change data and the track calibration parameters to obtain the estimated driving trajectory of the tunneling equipment.

[0065] In this embodiment, an inertial navigation coordinate system is established, and the inertial navigation coordinate system coincides with the northeast celestial coordinate system. Then, it is assumed that the coordinate axes of the same name of the inertial navigation coordinate system and the coordinate system of the tunneling equipment coincide with each other during the tunneling equipment moving in a straight line, and the attitude matrix of the tunneling equipment is calculated in real time through the three-gyro combination in the inertial navigation unit, which is recorded as The dead reckoning is performed by combining the pulse data of the left and right tracks of the tunneling equipment measured by the odometer unit to calculate the estimated distance of the tunneling equipment.

[0066] In this embodiment, the specific formula for calculating the driving trajectory is:

[0067] ΔS L =(L k -L k-1 )×t L

[0068] ΔS R =(R k -R k-1 )×t R

[0069] S D =(ΔS L +ΔS R ) / 2

[0070]

[0071] In the formula, ΔS L ΔS is the distance traveled by the left crawler of the tunneling equipment; R is the distance traveled by the right crawler of the tunneling equipment; t L is the data collection time of the left crawler of the tunneling equipment; t R The data collection time of the right crawler track of the tunneling equipment; is the estimated driving trajectory of the tunneling equipment in the tunneling equipment coordinate system; L k L is the pulse change data measured by the left crawler odometer of the tunneling equipment at the current moment;k-1 R is the pulse change data measured by the left crawler odometer of the tunneling equipment at the previous moment; k R is the pulse change data measured by the right track odometer of the tunneling equipment at the current moment; k-1 It is the pulse change data measured by the left crawler odometer of the tunneling equipment at the previous moment; The attitude matrix for attitude transformation from the tunneling equipment coordinate system to the inertial navigation coordinate system; S D The distance traveled by the tunneling equipment per unit time; It is the distance matrix of tunneling equipment per unit time in the tunneling equipment coordinate system.

[0072] In this embodiment, it is assumed that the tunneling equipment advances along the Y-axis in the tunneling equipment coordinate system per unit time, and there is no movement in the other two directions. Coordinate transformation is performed by constructing a tunneling equipment unit time advancement distance matrix so that the data in the tunneling equipment coordinate system can be multiplied with the attitude matrix obtained based on the inertial navigation coordinate system to obtain the estimated driving trajectory of the tunneling equipment.

[0073] In this embodiment, the dead reckoning is performed to obtain the estimated coordinates B′ corresponding to the preset target point B: B N B H B ), due to the navigation installation error is not calibrated, the dead reckoning B' coordinates and the GPS receiver unit display B coordinates are different, when assuming that the tunneling equipment is moving in a straight line in the north direction, the tunneling equipment route is projected onto the EON and NOH planes, such as Figure 2 , Figure 3 As shown, the heading angle installation error and pitch angle installation error of the navigation unit of the tunneling equipment are obtained by comparison.

[0074] In this embodiment, the formula for calculating the navigation installation error value according to the estimated coordinate B′ is:

[0075] y=arctan((N2-N1) / (E2-E1))-arctan(N B / E B )

[0076]

[0077] p=arccos((H2-H1) / S)-arccos(H B / S B )

[0078] In the formula, y is the heading angle installation error, p is the pitch angle installation error, (E1, N1, H1) is the first coordinate information, (E2, N2, H2) is the second coordinate information, SB It is the distance that the tunneling equipment travels in a straight line to the estimated coordinate B′.

[0079] Optionally, it also includes: acquiring track pulse change data at different times; calculating the corresponding heading angle installation error, pitch angle installation error and the straight-line distance traveled by the tunneling equipment calculated by dead reckoning based on the track pulse change data at different times, and combining the corresponding errors at different times to obtain an average value; and verifying the track calibration parameters based on the average value.

[0080] The present invention provides a method and system for measuring the navigation installation error of tunneling equipment, which combines an inertial navigation unit, a GPS receiver unit and an odometer unit, calculates track calibration parameters, a heading angle installation error and a pitch angle installation error of the inertial navigation unit according to collected data, and then compares the dead reckoning positioning measurement result with the GPS receiver unit measurement result to determine whether the tunneling equipment navigation has an installation error, so that the inertial navigation unit measurement result is more accurate, and also lays a foundation for the application of the dead reckoning technology in the direction of tunnel mining footage and height calculation.

[0081] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for measuring navigation installation errors of tunneling equipment, characterized in that: The steps include: Obtaining the location where the GPS signal is first received during the travel of the tunneling equipment, recording the first coordinate information of the current location, and the first pulse data; Acquire the GPS signal of the tunneling equipment when it reaches the preset target point and during the driving process, obtain the driving trajectory of the tunneling equipment, and record the second coordinate information and the second pulse data when the tunneling equipment reaches the preset target point; Based on the first coordinate information and the second coordinate information, the travel distance of the tunneling equipment is calculated, and based on the first pulse data and the second pulse data, the crawler calibration parameters are calculated; The pulse change data of the track during the movement of the tunneling equipment is obtained, and the dead reckoning is performed based on the calibration parameters of the track and the navigation data collected by the inertial navigation unit to obtain the estimated driving trajectory of the tunneling equipment, and the estimated driving trajectory is compared with the driving trajectory of the tunneling equipment, and the navigation installation error value of the tunneling equipment is calculated according to the comparison result.

2. The method for measuring navigation installation error of tunneling equipment according to claim 1, characterized in that: Acquiring the pulse change data of the crawler during the movement of the tunneling equipment, and performing dead reckoning based on the crawler calibration parameters and the navigation data collected by the inertial navigation unit, including: Establish an inertial navigation coordinate system, set the north direction as the Y axis, the east direction as the X axis, and the sky direction as the Z axis, and obtain the attitude matrix of the tunneling equipment coordinate system transformed into the inertial navigation coordinate system in real time based on the navigation data; Establishing a tunneling equipment coordinate system, setting the forward direction of the tunneling equipment as the Y axis, the right side of the tunneling equipment as the X axis, and the Z axis coinciding with the Z axis of the inertial navigation coordinate system; In the inertial navigation coordinate system, dead reckoning is performed in combination with the attitude matrix, pulse change data and track calibration parameters to obtain the estimated driving trajectory of the tunneling equipment.

3. The method for measuring navigation installation error of tunneling equipment according to claim 2, characterized in that: The track calibration parameters are: t L =S / (L2-L1) t R =S / (R2-R1) Where S is the travel distance of the tunneling equipment, L1 is the first pulse data of the left track when the GPS signal is first received, L2 is the first pulse data of the left track when the preset target point is reached, R1 is the second pulse data of the right track when the GPS signal is first received, and R2 is the second pulse data of the right track when the preset target point is reached.

4. The method for measuring navigation and installation errors of tunneling equipment according to claim 2, characterized in that: The specific formula for calculating the driving trajectory of the tunneling equipment is: ΔS L =(L k -L k-1 )×t L ΔS R =(R k -R k-1 )×t R S D =(ΔS L +ΔS R ) / 2 In the formula, ΔS L ΔS is the distance traveled by the left crawler of the tunneling equipment; R is the distance traveled by the right crawler of the tunneling equipment; t L is the data collection time of the left crawler of the tunneling equipment; t R The data collection time of the right crawler track of the tunneling equipment; is the estimated driving trajectory of the tunneling equipment in the tunneling equipment coordinate system; L k L is the pulse change data measured by the left crawler odometer of the tunneling equipment at the current moment; k-1 R is the pulse change data measured by the left crawler odometer of the tunneling equipment at the previous moment; k R is the pulse change data measured by the right track odometer of the tunneling equipment at the current moment; k-1 It is the pulse change data measured by the left crawler odometer of the tunneling equipment at the previous moment; The attitude matrix for attitude transformation from the tunneling equipment coordinate system to the inertial navigation coordinate system; S D The distance traveled by the tunneling equipment per unit time; It is the distance matrix of tunneling equipment per unit time in the tunneling equipment coordinate system.

5. The method for measuring navigation and installation errors of tunneling equipment according to claim 1, characterized in that: The formula for calculating the navigation installation error value of the tunneling equipment based on the comparison results is: y=arctan((N2-N1) / (E2-E1))-arctan(N D / E D ) p=arccos((H2-H1) / S)-arccos(H D / S D ) In the formula, y is the heading angle installation error, p is the pitch angle installation error, (E1, N1, H1) is the first coordinate information, (E2, N2, H2) is the second coordinate information, S D The distance traveled by the tunneling equipment in a straight line according to dead reckoning.

6. The method for measuring navigation installation errors of tunneling equipment according to claim 5, characterized in that: Also includes: Obtain track pulse change data at different times; Based on the track pulse change data at different times, the corresponding heading angle installation error, pitch angle installation error and the distance that the tunneling equipment has traveled in a straight line calculated by dead reckoning are calculated, and the corresponding errors at different times are combined to obtain the average value; The track calibration parameters are validated based on the average values.

7. A navigation and installation error measurement system for tunneling equipment, characterized in that: The method described in any one of claims 1 to 6 above can be performed, including: Inertial navigation unit, used to collect heading, pitch and roll angles of tunneling equipment; A GPS receiver unit is used to obtain real-time positioning information of the tunneling equipment and calculate the travel distance of the tunneling equipment according to the real-time positioning information; The odometer unit is used to measure the rotation of the tracks of the tunneling equipment and calculate the displacement length of the tunneling equipment based on the rotation of the tracks.

8. The tunneling equipment navigation installation error measurement system according to claim 7, characterized in that: The GPS receiver unit includes at least a first GPS receiver and a second GPS receiver, including: The inertial navigation unit is fixedly installed on the tunneling equipment body, the first GPS receiver is installed on the tunneling equipment body, the second GPS receiver is installed above the centering rod, and the odometer unit is fixedly installed on the driving shaft end of the tunneling equipment travel motor.

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