Joint positioning method based on multiple roadheader-mounted laser radars in roadway environment

Abstract

The combined positioning method based on multiple tunneling machines on-board laser radars in a roadway environment comprises the following steps: S1: a laser radar mounted on the surface of a tunneling machine collects a target point cloud behind the tunneling machine, converts the coordinates of the target point cloud in the built-in coordinate system of the laser radar into the coordinates of the target point cloud in the tunneling machine coordinate system, and obtains a combined target point cloud; S2: for the combined target point cloud, different centering algorithms are selected according to the target type, if the target is a three-dimensional spherical target, a spherical target centering algorithm is run on the combined target point cloud; if the target is a two-dimensional square target, a square target centering algorithm is run on the combined target point cloud; S3: the northeast sky direction is measured by inertial navigation, and the coordinates of the target center in the tunneling machine coordinate system are converted into the coordinates of the tunneling machine identification point in the roadway coordinate system by a coordinate transformation method, so as to realize accurate positioning of the tunneling machine in the roadway. The present application improves the positioning precision and stability of the laser radar.

Description

Technical Field

[0001] This invention relates to the field of multi-lidar joint positioning technology, specifically to a joint positioning method based on multiple airborne lidars of tunneling machines in a tunnel environment. Background Technology

[0002] Intelligent unmanned tunneling is a global trend in coal mining technology development, and precise positioning is the prerequisite and foundation for "intelligent tunneling".

[0003] Traditional tunneling machine positioning methods use a single lidar sensor. However, lidar sensors that meet coal mine safety certification have relatively poor performance, and the positioning error increases significantly when the distance to the target is far. This prevents the tunneling machine from moving along the predetermined route, still requiring staff to guide it in the tunnel, thus failing to achieve the goal of "intelligent tunneling." Even worse, positioning errors can cause the tunneling machine to collide with the tunnel wall, resulting in machine failure. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention proposes a joint positioning method based on multiple airborne lidars on tunneling machines in a tunnel environment. Through coordinate transformation, the target point cloud collected by multiple lidars on the surface of the tunneling machine is transformed to the same coordinate system. Different centering algorithms are used for different types of targets to determine the relative position between the tunneling machine and the target. This improves the accuracy and stability of lidar-based positioning.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A joint localization method based on multiple airborne lidar sensors of tunneling machines in a tunnel environment includes the following steps; S1: Use the lidar mounted on the upper surface of the tunneling machine to collect the target point cloud behind the tunneling machine. Based on the pose information of the lidar on the surface of the tunneling machine and the coordinate transformation, convert the coordinates of the target point cloud in the lidar's built-in coordinate system into the coordinates of the target point cloud in the tunneling machine's coordinate system to obtain the joint target point cloud. S2: For the joint target point cloud, select different centering algorithms according to the target type. If the target is a three-dimensional spherical target, run the spherical target centering algorithm on the joint target point cloud. If the target is a two-dimensional square target, run the square target centering algorithm on the joint target point cloud; S3: Utilize an inertial navigation system (INS) to measure the northeast direction, and use coordinate transformation to convert the coordinates of the target center in the tunneling machine coordinate system into the coordinates of the tunneling machine marker point in the roadway coordinate system, so as to achieve precise positioning of the tunneling machine in the roadway.

[0006] Furthermore, in S1, the tunneling machine is denoted as... The previous specific marker point is ,by Using the origin as the coordinate system, and the right, front, and up directions of the tunneling machine's forward movement as the coordinate systems, respectively, we establish three-dimensional rectangular coordinate systems. Establish the tunneling machine coordinate system in the direction of the tunneling machine. Using the pose information of the lidar on the surface of the tunneling machine and the coordinate transformation method, the coordinates of the target point cloud in the lidar's built-in coordinate system are transformed to the coordinates of the target point cloud in the tunneling machine's coordinate system.

[0007] The pose information includes: lidar The coordinates in the tunneling machine coordinate system are denoted as... The attitude angle of the lidar in the tunneling machine coordinate system is denoted as... ,in They represent circumference respectively. The rotating Euler angles are roll, pitch, and yaw.

[0008] Furthermore, the attitude angle refers to the angle of the coordinate system built into the lidar. The axes are rotated sequentially to align with the tunneling machine coordinate system. Euler angles of rotation corresponding to the same axial direction.

[0009] Furthermore, the coordinate transformation method comprises the following steps: S101: Calculate the rotation matrix corresponding to the lidar pose angle: S102: Let the coordinates of the target point cloud in the lidar's built-in coordinate system be... The target point cloud's coordinates in the tunneling machine coordinate system are: Perform the following coordinate transformation: S103: Perform the above coordinate transformation on all target point clouds of all radars and transform them to the tunneling machine coordinate system to obtain the joint target point cloud.

[0010] Furthermore, in step S2, the algorithm steps for centering the sphere target are as follows: S201: Settings Axis threshold: ; Find the joint target point in the cloud The point with the smallest x-axis coordinate is denoted as its minimum. Axis coordinates are ; S202: If If at least two radars can scan the target, then the center of the sphere is used as the legal center. S203: If none of the conditions in S202 are met, or the centering method fails, then the sliding window method for centering is used.

[0011] Furthermore, the steps of the center-of-sphere method described in S202 are as follows: (1): Set the diameter of the three-dimensional spherical target: Screening ratio: ; (2): Locate the joint target point cloud The point with the largest x-axis coordinate is denoted as its x-axis coordinate. Axis coordinates are Set threshold Filter all Y Axis coordinates greater than The joint target point cloud; (3): Solve for the problem about The linear equation: These are the coordinates of the selected joint target point cloud, denoted as... Solving using the least squares method yields... The For matrix transpose, For matrix The reverse; (4): Calculate the coordinates of the center of the sphere. and the radius of the sphere : (5): Set the radius error threshold Calculate the radius error: ; like Then correct the coordinates of the sphere's center. The center of the sphere will move along the line connecting the radar origin and the center of the sphere. : like This indicates that the ball center method has failed.

[0012] Furthermore, the sliding window method described in S203 has the following steps: (1): Set the diameter of the spherical target: ; (2): Record the joint target points in the cloud The maximum value of the axis coordinates is The minimum value is ; (3): If Calculate the center of the sphere Axis coordinates: ; (4): If Set sliding window interval Find the interval The largest number of midpoint clouds Calculate the center of the sphere Axis coordinates: ; (5): Record the joint target points in the cloud The maximum value of the axis coordinates is Calculate the center of the sphere Axis coordinates: ; (6): Record the joint target points in the cloud The maximum value of the axis coordinates is The minimum value is ; (7): If Calculate the center of the sphere Axis coordinates: ; (8): If Set sliding window interval Find the interval The largest number of midpoint clouds Calculate the center of the sphere Axis coordinates: .

[0013] Furthermore, the algorithm for centering the square target is as follows: S301: Set the side length of the square target: ; S302: Recording the Joint Target Point in the Clouds The maximum value of the axis coordinates is The minimum value is ; S303: If Calculate the target center Axis coordinates: ; S304: If Set sliding window interval Find the interval The largest number of midpoint clouds Calculate the target center Axis coordinates: ; S305: Calculate all The average value of the axis coordinates is denoted as the target center. Axis coordinates ; S306: Recording the Joint Target Point in the Clouds The maximum value of the axis coordinates is The minimum value is ; S307: If Calculate the target center Axis coordinates: ; S308: If Set sliding window interval Find the interval The largest number of midpoint clouds Calculate the target center Axis coordinates: .

[0014] Furthermore, in step S3, the coordinate transformation method comprises the following steps: S401: Measurement Inertial Navigation The coordinates of the origin in the tunneling machine coordinate system are denoted as . The attitude angle of the inertial navigation system in the tunneling machine coordinate system is denoted as... And calculate the corresponding rotation matrix: S402: The direction of the sky to the northeast is measured using an inertial navigation system and denoted as... And calculate the corresponding rotation matrix: S403: Tunneling machine Specific markers on Using the origin as the coordinate system, and the northeast and south directions as the coordinate systems, a three-dimensional rectangular coordinate system is established. Establish the northeast-central coordinate system of the tunneling machine according to the direction of the axis. The coordinates of the target center in the northeast-central coordinate system of the tunneling machine are: Perform the following coordinate transformation: S404: A three-dimensional rectangular coordinate system with the target center as the origin and the northeast-sky direction as the coordinate system. Establish the northeast-central coordinate system of the tunnel according to the direction of the axis. The coordinates of the tunnel boring machine marker point in the northeast corner of the tunnel in the celestial coordinate system are: Perform the following coordinate transformation: The coordinates of the tunneling machine's marker point in the northeast-central coordinate system of the tunnel are obtained, enabling the tunneling machine to be positioned within the tunnel.

[0015] The beneficial effects of this invention are: This invention acquires point clouds scanned by multiple lidar sensors. Based on the installation position of the lidar sensors on the surface of the tunneling machine, the coordinates of the target point cloud scanned by the lidar sensors are transformed to obtain the coordinates of the combined target point cloud in the tunneling machine coordinate system. A centering algorithm is used to calculate the position of the target center relative to the tunneling machine based on the coordinates of the combined target point cloud, significantly improving the positioning accuracy and stability. Finally, a coordinate transformation is performed on the coordinates of the target center to obtain the position information of the tunneling machine in the tunnel. This invention, by combining target point clouds collected by multiple lidar sensors, fully utilizes the geometric features of the target for positioning, improving the positioning accuracy and stability of the radar.

[0016] Furthermore, this invention can perform rapid coordinate transformation on a large number of target point clouds from multiple lidars without requiring high-performance computing chips. Furthermore, this invention can center various types of targets, and has a wide range of practical applications. Furthermore, this invention significantly improves the accuracy and stability of positioning by combining the target point clouds of different radars into a unified coordinate system for joint processing. In summary, this invention solves the problem of joint positioning of multiple lidars based on coordinate transformation and centering methods, and uses point cloud data from multiple lidars to determine the relative position of the tunneling machine and the target, which greatly improves the positioning accuracy and stability and overcomes the shortcomings of single-library positioning methods. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of a tunnel environment according to an embodiment of the present invention.

[0019] Figure 3 This is a detailed diagram of multi-radar joint point cloud data according to an embodiment of the present invention. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings.

[0021] This invention discloses a joint positioning method based on multiple airborne lidars on tunneling machines (TBMs) in a tunnel environment. It establishes a TBM coordinate system and transforms the target point cloud coordinates scanned by the lidars based on their installation position and attitude angle on the TBM surface to obtain the target point cloud coordinates within the TBM coordinate system. A centering algorithm is then used to calculate the position of the target center relative to the TBM using the combined target point cloud coordinates, significantly improving positioning accuracy and stability. Finally, a coordinate transformation is performed on the target center coordinates to obtain the TBM's position information within the tunnel. This invention leverages the geometric features of the target by combining target point clouds collected by multiple lidars, improving the positioning accuracy and stability of the radar.

[0022] Please refer to the details. Figure 1 The present invention provides a joint positioning scheme based on multiple airborne lidar sensors of tunneling machines in a tunnel environment, comprising the following steps: S1, please refer to Figure 2 In one embodiment of the present invention, the blue dots on the tunneling machine body are the installation positions of the lidar, which are placed on the upper surface of the tunneling machine body. The specific installation position can be adjusted appropriately according to the tunneling machine model, and the lidar field of view must be ensured. The red dots are the targets, located in the tunnel behind the tunneling machine. Commonly used targets include two-dimensional square targets and three-dimensional spherical targets.

[0023] This invention provides a joint positioning scheme based on multiple airborne lidars of tunneling machines in a tunnel environment. The scheme combines point cloud data scanned by multiple lidars and obtains the position information of the tunneling machine in the tunnel through coordinate transformation and centering methods.

[0024] LiDAR has a built-in three-dimensional Cartesian coordinate system, and its scanned point cloud data is presented in the form of three-dimensional coordinate points. In this invention, the tunneling machine is recorded. The previous specific marker point is ,by Using the right front-upward direction of the tunneling machine as the origin, a three-dimensional rectangular coordinate system is established. Establish the tunneling machine coordinate system according to the direction of the axis. Using the pose information of the lidar on the surface of the tunneling machine and a coordinate transformation method, the coordinates of the target point cloud in the lidar's built-in coordinate system are transformed to the coordinates of the target point cloud in the tunneling machine's coordinate system. The pose information includes: lidar... The coordinates in the tunneling machine coordinate system are denoted as... The attitude angle of the lidar in the tunneling machine coordinate system is denoted as... ,in They represent circumference respectively. Euler angles for axis rotation, namely roll, pitch, and yaw. The attitude angles referred to are those within the lidar's built-in coordinate system. The axes are rotated sequentially to align with the tunneling machine coordinate system. The Euler angles of rotation corresponding to the same axis direction. The steps of the coordinate transformation method are as follows: S101: Calculate the rotation matrix corresponding to the lidar pose angle: S102: Let the coordinates of the target point cloud in the lidar's built-in coordinate system be... The target point cloud's coordinates in the tunneling machine coordinate system are: Perform the following coordinate transformation: S103: Perform the above coordinate transformation on all target point clouds of all radars and transform them to the tunneling machine coordinate system to obtain the joint target point cloud.

[0025] S2. Select different centering algorithms according to the target type. Common targets include two-dimensional square targets and three-dimensional spherical targets. If the target is a three-dimensional spherical target, run the spherical target centering algorithm on the joint target point cloud to calculate the coordinates of the target center in the tunneling machine coordinate system and determine the position of the target relative to the tunneling machine.

[0026] The algorithm steps for centering the sphere target are as follows: S201: Settings Axis threshold: ; Find the joint target point in the cloud The point with the smallest x-axis coordinate is denoted as its minimum. Axis coordinates are ; S202: If If at least two radars can scan the target, then the center of the sphere is used as the legal center. S203: If none of the conditions in S202 are met, or the centering method fails, then the sliding window method for centering is used.

[0027] The steps of the center-of-ball method described in S202 are as follows: (1): Set the diameter of the three-dimensional spherical target: Screening ratio: ; (2): Locate the joint target point cloud The point with the largest x-axis coordinate is denoted as its x-axis coordinate. Axis coordinates are Set threshold Filter all Y Axis coordinates greater than The joint target point cloud.

[0028] (3): Solve for the problem about The linear equation: The aforementioned These are the coordinates of the filtered joint target point cloud. (Note: The original text contains some formatting errors and inconsistencies. Solving using the least squares method yields... Furthermore, the aforementioned For matrix transpose, For matrix The reverse.

[0029] (4): Calculate the coordinates of the center of the sphere and the radius of the sphere. (5): Set the radius error threshold Calculate the radius error: .like Then the coordinates of the sphere's center are corrected, that is, the sphere's center is moved along the line connecting the radar origin and the sphere's center. : like This indicates that the ball center method has failed.

[0030] The sliding window method described in S203 involves the following steps: (1): Set the diameter of the spherical target: ; (2): Record the joint target points in the cloud The maximum value of the axis coordinates is The minimum value is ; (3): If Calculate the center of the sphere Axis coordinates: ; (4): If Set sliding window interval Find the interval The largest number of midpoint clouds Calculate the center of the sphere Axis coordinates: .

[0031] (5): Record the joint target points in the cloud The maximum value of the axis coordinates is Calculate the center of the sphere Axis coordinates: ; (6): Record the joint target points in the cloud The maximum value of the axis coordinates is The minimum value is ; (7): If Calculate the center of the sphere Axis coordinates: ; (8): If Set sliding window interval Find the interval The largest number of midpoint clouds Calculate the center of the sphere Axis coordinates: .

[0032] S3. If the target is a two-dimensional square target, run the square target centering algorithm on the joint target point cloud to calculate the coordinates of the target center in the tunneling machine coordinate system and determine the position of the target relative to the tunneling machine.

[0033] The algorithm for centering a square target is as follows: S301: Set the side length of the square target: ; S302: Recording the Joint Target Point in the Clouds The maximum value of the axis coordinates is The minimum value is ; S303: If Calculate the target center Axis coordinates: ; S304: If Set sliding window interval Find the interval The largest number of midpoint clouds Calculate the target center Axis coordinates: .

[0034] S305: Calculate all The average value of the axis coordinates is denoted as the target center. Axis coordinates ; S306: Recording the Joint Target Point in the Clouds The maximum value of the axis coordinates is The minimum value is ; S307: If Calculate the target center Axis coordinates: ; S308: If Set sliding window interval Find the interval The largest number of midpoint clouds Calculate the target center Axis coordinates: .

[0035] S4. Measure the northeast direction using an inertial navigation system (INS). Transform the coordinates of the target center in the tunneling machine's coordinate system into the coordinates of the tunneling machine's marker point in the roadway coordinate system to achieve the tunneling machine's positioning within the roadway. The coordinate transformation method involves the following steps: S401: Measurement Inertial Navigation The coordinates of the origin in the tunneling machine coordinate system are denoted as . The attitude angle of the inertial navigation system in the tunneling machine coordinate system is measured and denoted as... And calculate the corresponding rotation matrix: S402: The direction of the sky to the northeast is measured using an inertial navigation system and denoted as... And calculate the corresponding rotation matrix: S403: Taking the tunneling machine marker as the origin and the northeast-southeast direction as... Establish the northeast-central coordinate system of the tunneling machine according to the direction of the axis. The coordinates of the target center in the northeast-central coordinate system of the tunneling machine are: Perform the following coordinate transformation: S404: With the target center as the origin and the northeast direction as the reference point. Establish the northeast-central coordinate system of the tunnel according to the direction of the axis. Let the coordinates of the tunnel boring machine marker point in the northeast corner of the roadway be: Perform the following coordinate transformation: The coordinates of the tunneling machine's marker point in the northeast-central coordinate system of the tunnel are obtained, enabling the tunneling machine to be positioned within the tunnel.

[0036] Please see Figure 3 , Figure 3 A case study of joint localization based on multiple airborne lidar sensors of tunneling machines is presented. Figure 3 (a) From left to right, the target point cloud collected by the three radars at point 1, the target point cloud collected by radar 1, the target point cloud collected by radar 2, and the target point cloud collected by radar 3 are respectively. Figure 3 In (b), from left to right, the target point cloud collected by the three radars at point 2, the target point cloud collected by radar 1, the target point cloud collected by radar 2, and the target point cloud collected by radar 3 are shown respectively. The combined radar array can scan more point clouds on the target.

[0037] The table below shows the errors between the estimated and actual coordinates of the tunneling machine in the tunnel coordinate system obtained through multi-radar joint positioning and single-radar positioning, with the target placed at 10 different tunnel locations. Radar No. 2 showed larger estimation errors at points 6-10; Radar No. 3 showed extremely large estimation errors at points 7-10. However, by fusing the target point clouds collected by the three radars for positioning, the obtained positioning accuracy reached the centimeter level, with an F-norm of error of 0.060, significantly improving the positioning accuracy and stability.

[0038]

Claims

1. A joint positioning method based on multiple airborne lidar sensors of tunneling machines in a tunnel environment, characterized in that, Includes the following steps; S1: Use the lidar mounted on the upper surface of the tunneling machine to collect the target point cloud behind the tunneling machine. Based on the pose information of the lidar on the surface of the tunneling machine and the coordinate transformation, convert the coordinates of the target point cloud in the lidar's built-in coordinate system into the coordinates of the target point cloud in the tunneling machine's coordinate system to obtain the joint target point cloud. S2: For the joint target point cloud, select different centering algorithms according to the target type. If the target is a three-dimensional spherical target, run the spherical target centering algorithm on the joint target point cloud. If the target is a two-dimensional square target, run the square target centering algorithm on the joint target point cloud; S3: Utilize an inertial navigation system to measure the northeast direction, and use coordinate transformation to convert the coordinates of the target center in the tunneling machine coordinate system into the coordinates of the tunneling machine marker point in the roadway coordinate system, so as to achieve precise positioning of the tunneling machine in the roadway. In step S2, the algorithm steps for centering the sphere target are as follows: set up Axis threshold: ; Find the joint target point in the cloud The point with the smallest x-axis coordinate is denoted as its minimum. axial coordinates are ; like If at least two radars can scan the target, then the center of the sphere is used as the legal center. If none of the conditions are met, or the centering method fails, then the sliding window method for centering is used. The algorithm for centering a square target is as follows: (1): Set the side length of the square target: ; (2): Record the joint target points in the cloud The maximum value of the axis coordinates is The minimum value is ; (3): If Calculate the target center Axis coordinates: ; (4): If Set sliding window interval Find the interval The largest number of midpoint clouds Calculate the target center Axis coordinates: ; (5): Calculate all The average value of the axis coordinates is denoted as the target center. Axis coordinates ; (6): Record the joint target points in the cloud The maximum value of the axis coordinates is The minimum value is ; (7): If Calculate the target center Axis coordinates: ; (8): If Set sliding window interval Find the interval The largest number of midpoint clouds Calculate the target center Axis coordinates: .

2. The joint positioning method based on multiple airborne lidar sensors of tunneling machines in a tunnel environment according to claim 1, characterized in that, In S1, the tunneling machine is recorded. The previous specific marker point is ,by Using the origin as the coordinate system, and the right-front-upward direction of the tunneling machine's forward movement as the coordinate system, a three-dimensional rectangular coordinate system is established. Establish the tunneling machine coordinate system in the direction of the tunneling machine. Using the pose information of the lidar on the surface of the tunneling machine and the coordinate transformation method, the coordinates of the target point cloud in the lidar's built-in coordinate system are transformed to the coordinates of the target point cloud in the tunneling machine's coordinate system.

3. The joint positioning method based on multiple airborne lidar sensors of tunneling machines in a tunnel environment according to claim 2, characterized in that, The pose information includes: lidar The coordinates in the tunneling machine coordinate system are denoted as... The attitude angle of the lidar in the tunneling machine coordinate system is denoted as... ,in They represent circumference respectively. The Euler angles of rotation are roll, pitch, and yaw. The attitude angle mentioned refers to the coordinate system built into the lidar. The axes are rotated sequentially to align with the tunneling machine coordinate system. Euler angles of rotation corresponding to the same axial direction.

4. The joint positioning method based on multiple airborne lidar sensors of tunneling machines in a tunnel environment according to claim 3, characterized in that, The steps of the coordinate transformation method are as follows: S101: Calculate the rotation matrix corresponding to the lidar pose angle: S102: Let the coordinates of the target point cloud in the lidar's built-in coordinate system be... The coordinates of the target point cloud in the tunneling machine coordinate system are: Perform the following coordinate transformation: S103: Perform the above coordinate transformation on all target point clouds of all radars and transform them to the tunneling machine coordinate system to obtain the joint target point cloud.

5. The joint positioning method based on multiple airborne lidar sensors of tunneling machines in a tunnel environment according to claim 1, characterized in that, The steps of the ball center method are as follows: (1): Set the diameter of the three-dimensional spherical target: Screening ratio: ; (2): Locate the joint target point cloud The point with the largest x-axis coordinate is denoted as its x-axis coordinate. axial coordinates are Set threshold Filter all Y Axis coordinates greater than The joint target point cloud; (3): Solve for the problem about The linear equation: These are the coordinates of the selected joint target point cloud, denoted as... Solving using the least squares method yields... The For matrix transpose, For matrix The reverse; (4): Calculate the coordinates of the center of the sphere. and the radius of the sphere : (5): Set the radius error threshold Calculate the radius error: ; like Then correct the coordinates of the sphere's center. The center of the sphere will move along the line connecting the radar origin and the center of the sphere. : like This indicates that the ball center method has failed.

6. The joint positioning method based on multiple airborne lidar sensors of tunneling machines in a tunnel environment according to claim 1, characterized in that, The sliding window method involves the following steps: (1): Set the diameter of the spherical target: ; (2): Record the joint target points in the cloud The maximum value of the axis coordinates is The minimum value is ; (3): If Calculate the center of the sphere Axis coordinates: ; (4): If Set sliding window interval Find the interval The largest number of midpoint clouds Calculate the center of the sphere Axis coordinates: ; (5): Record the joint target points in the cloud The maximum value of the axis coordinates is Calculate the center of the sphere Axis coordinates: ; (6): Record the joint target points in the cloud The maximum value of the axis coordinates is The minimum value is ; (7): If Calculate the center of the sphere Axis coordinates: ; (8): If Set sliding window interval Find the interval The largest number of midpoint clouds Calculate the center of the sphere Axis coordinates: .

7. The joint positioning method based on multiple airborne lidar sensors of tunneling machines in a tunnel environment according to claim 1, characterized in that, In step S3, the coordinate transformation method has the following steps: S301: Measurement Inertial Navigation System The coordinates of the origin in the tunneling machine coordinate system are denoted as . The attitude angle of the inertial navigation system in the tunneling machine coordinate system is denoted as... And calculate the corresponding rotation matrix: S302: The direction of the sky to the northeast is measured using inertial navigation, and denoted as... And calculate the corresponding rotation matrix: S303: Tunneling machine Specific markers on Using the origin as the coordinate system, and the northeast and south directions as the coordinate systems, a three-dimensional rectangular coordinate system is established. Establish the northeast-central coordinate system of the tunneling machine according to the direction of the axis. The coordinates of the target center in the northeast-central coordinate system of the tunneling machine are: Perform the following coordinate transformation: S304: A three-dimensional rectangular coordinate system with the target center as the origin and the northeast-sky direction as the coordinate system. Establish the northeast-central coordinate system of the tunnel according to the direction of the axis. The coordinates of the tunnel boring machine marker point in the northeast corner of the tunnel in the celestial coordinate system are: Perform the following coordinate transformation: The coordinates of the tunneling machine's marker point in the northeast-central coordinate system of the tunnel are obtained, enabling the tunneling machine to be positioned within the tunnel.

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