Initial alignment system and method for strap-down inertial navigation of shearer based on optical flow method

摘要

#$%^&*AU2018421458A120191219.pdf#####ABSTRACT Disclosed is an initial alignment system and method for strap-down inertial navigation of a shearer based on an optical flow method, comprising an explosion-proof box, a strap-down inertial navigation system, a processor, a fixed support, and a camera. The explosion-proof box is fixedly 5 mounted on the body of the shearer. The strap-down inertial navigation system and the processor are mounted in the explosion-proof box. The camera is fixed on a hydraulic support at one side of the shearer by means of the fixed support, with the photographing direction of the camera facing toward the shearer. A moving image of the shearer is photographed by the camera, and the motion direction and the actual velocity over ground of the shearer are obtained in combination with the 10 optical flow technology. Then, a multi-vector attitude determination equation is derived from a specific force equation of the strap-down inertial navigation. Finally, an initial attitude matrix of the strap-down inertial navigation can be solved by using a Whaba optimal matrix, so as to achieve the initial alignment of the strap-down inertial navigation system. The present invention uses external velocity assistance without the need for a coarse alignment stage to achieve accurate initial 15 alignment of a movable base of the strap-down inertial navigation.