OPTICAL FLOW METHOD-BASED COAL MINING MACHINE STRAP-DOWN INERTIAL NAVIGATION INITIAL ALIGNMENT SYSTEM AND METHOD

摘要

An optical flow method-based coal mining machine strap-down inertial navigation initial alignment system and method. The system comprises an explosion-proof box, a strap-down inertial navigation system, a processor, a fixing support, and a camera; the explosion-proof box is fixedly mounted on the body of a coal mining machine; the strap-down inertial navigation system and the processor are mounted in the explosion-proof box; the camera is fixed onto a hydraulic support at one side of the coal mining machine by means of the fixing support; and a photographing direction of the camera faces the coal mining machine. A motion image of the coal mining machine is photographed by using the camera, and a motion direction and an actual ground speed of the coal mining machine are obtained by combining the optical flow technology; a multi-vector attitude determination equation is derived from a specific force equation of strap-down inertial navigation; an initial attitude matrix of strap-down inertial navigation can be finally calculated by using a Whaba optimal matrix, thereby achieving initial alignment of the strap-down inertial navigation system. According to the method, accurate initial alignment for a movable base of strap-down inertial navigation is achieved by means of external speed assistance, without a coarse alignment stage.