Integrated positioning method of roadheader based on inertial technology
In view of the environmental constraints such as long working cycle and large vibration amplitude during the cutting of the roadheader in the fully mechanized excavation face, it is difficult for a single inertial navigation system to realize autonomous, real-time and accurate perception of the atti...
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| Format: | Article |
| Language: | zho |
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Editorial Department of Coal Science and Technology
2024-12-01
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| Series: | Meitan kexue jishu |
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| Online Access: | http://www.mtkxjs.com.cn/article/doi/10.12438/cst.2023-1648 |
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| author | Lingfei SUN Ya LIU Jiguo PENG Muyi YANG Zhiyuan MA Kun ZHANG |
| author_facet | Lingfei SUN Ya LIU Jiguo PENG Muyi YANG Zhiyuan MA Kun ZHANG |
| author_sort | Lingfei SUN |
| collection | DOAJ |
| description | In view of the environmental constraints such as long working cycle and large vibration amplitude during the cutting of the roadheader in the fully mechanized excavation face, it is difficult for a single inertial navigation system to realize autonomous, real-time and accurate perception of the attitude and position of the roadheader in the fully mechanized excavation process due to the influence of navigation error accumulation with time. Taking the inertial navigation system as the main system, a combined positioning and orientation method based on inertial navigation system and laser sensing system is proposed. The inertial navigation system is used to obtain the real-time attitude information of the roadheader, which is transmitted to the laser sensing system and combined with its detection light point feature information. The spatial coordinate transformation is used to solve the position information, and the inertial navigation system is transmitted back to the inertial navigation system for pose auxiliary calibration. By integrating the advantages and disadvantages of each detection subsystem, the accurate detection of the pose of the roadheader is realized, which effectively overcomes the problems of single inertial navigation system detection value drift and poor system reliability. Finally, through the ground simulation test and the underground industrial test, the effectiveness and detection accuracy of the detection system are verified under different working conditions. The results show that the average error of the lateral offset detection of the integrated positioning system is less than 10 mm, and the average error of the longitudinal detection is less than 20 mm, which can meet the accuracy requirements of the lower position detection under different working conditions. The introduction of advanced information fusion technology into coal mining technology provides theoretical guidance and practical support for the further development of unmanned and intelligent coal roadway excavation. |
| format | Article |
| id | doaj-art-9fc3bec41a88469b8e9f8570db216d7f |
| institution | Kabale University |
| issn | 0253-2336 |
| language | zho |
| publishDate | 2024-12-01 |
| publisher | Editorial Department of Coal Science and Technology |
| record_format | Article |
| series | Meitan kexue jishu |
| spelling | doaj-art-9fc3bec41a88469b8e9f8570db216d7f2025-01-15T05:38:22ZzhoEditorial Department of Coal Science and TechnologyMeitan kexue jishu0253-23362024-12-01521230031010.12438/cst.2023-16482023-1648Integrated positioning method of roadheader based on inertial technologyLingfei SUN0Ya LIU1Jiguo PENG2Muyi YANG3Zhiyuan MA4Kun ZHANG5Beidou Tiandi Co. , Ltd., Jining 250000, ChinaBeidou Tiandi Co. , Ltd., Jining 250000, ChinaBeidou Tiandi Co. , Ltd., Jining 250000, ChinaBeidou Tiandi Co. , Ltd., Jining 250000, ChinaEquipment Management Center, Shandong Energy Group, Jinan 250101, ChinaShandong Provincial Key Laboratory of Robotics and Intelligent Technology, Shandong University of Science and Technology, Qingdao 266590, ChinaIn view of the environmental constraints such as long working cycle and large vibration amplitude during the cutting of the roadheader in the fully mechanized excavation face, it is difficult for a single inertial navigation system to realize autonomous, real-time and accurate perception of the attitude and position of the roadheader in the fully mechanized excavation process due to the influence of navigation error accumulation with time. Taking the inertial navigation system as the main system, a combined positioning and orientation method based on inertial navigation system and laser sensing system is proposed. The inertial navigation system is used to obtain the real-time attitude information of the roadheader, which is transmitted to the laser sensing system and combined with its detection light point feature information. The spatial coordinate transformation is used to solve the position information, and the inertial navigation system is transmitted back to the inertial navigation system for pose auxiliary calibration. By integrating the advantages and disadvantages of each detection subsystem, the accurate detection of the pose of the roadheader is realized, which effectively overcomes the problems of single inertial navigation system detection value drift and poor system reliability. Finally, through the ground simulation test and the underground industrial test, the effectiveness and detection accuracy of the detection system are verified under different working conditions. The results show that the average error of the lateral offset detection of the integrated positioning system is less than 10 mm, and the average error of the longitudinal detection is less than 20 mm, which can meet the accuracy requirements of the lower position detection under different working conditions. The introduction of advanced information fusion technology into coal mining technology provides theoretical guidance and practical support for the further development of unmanned and intelligent coal roadway excavation.http://www.mtkxjs.com.cn/article/doi/10.12438/cst.2023-1648inertial navigationlaser perceptionerror modelpose detectionintegrated positioninginformation fusion |
| spellingShingle | Lingfei SUN Ya LIU Jiguo PENG Muyi YANG Zhiyuan MA Kun ZHANG Integrated positioning method of roadheader based on inertial technology Meitan kexue jishu inertial navigation laser perception error model pose detection integrated positioning information fusion |
| title | Integrated positioning method of roadheader based on inertial technology |
| title_full | Integrated positioning method of roadheader based on inertial technology |
| title_fullStr | Integrated positioning method of roadheader based on inertial technology |
| title_full_unstemmed | Integrated positioning method of roadheader based on inertial technology |
| title_short | Integrated positioning method of roadheader based on inertial technology |
| title_sort | integrated positioning method of roadheader based on inertial technology |
| topic | inertial navigation laser perception error model pose detection integrated positioning information fusion |
| url | http://www.mtkxjs.com.cn/article/doi/10.12438/cst.2023-1648 |
| work_keys_str_mv | AT lingfeisun integratedpositioningmethodofroadheaderbasedoninertialtechnology AT yaliu integratedpositioningmethodofroadheaderbasedoninertialtechnology AT jiguopeng integratedpositioningmethodofroadheaderbasedoninertialtechnology AT muyiyang integratedpositioningmethodofroadheaderbasedoninertialtechnology AT zhiyuanma integratedpositioningmethodofroadheaderbasedoninertialtechnology AT kunzhang integratedpositioningmethodofroadheaderbasedoninertialtechnology |