The invention relates to the technical field of
engineering construction measurement and control, and discloses a calibration method for positioning and
attitude determination of a heading
machine, which comprises the following steps: constructing a
data acquisition module, a
route making module, a real-time
dynamic monitoring module, an execution module, a feedback module and an optimization module; the
data acquisition module is used for completing comprehensive acquisition of multi-
source data of the heading
machine, a
route, an environment and an obstacle, the
route making module is used for fusing the multi-
source data to carry out path planning and error compensation, and the real-time
dynamic monitoring module is used for realizing heading
machine pose tracking and emergency correction through
visual marking points and a
laser scanner. The execution module is used for converting an optimal tunneling path into a driving
motor control instruction, the feedback module is used for collecting deviation data of an actual operation
pose and a planned path in real time and returning the deviation data, the optimization module realizes long-term self-
adaptive optimization of the
system, and finally, precision, safety and high efficiency of the tunneling operation of the tunneling machine in a complex underground environment are realized.