Tracking Correction for Portable Coal Inventory Instrument

摘要

In the process of measuring the tracking of portable coal inventory instrument, the location accuracy is reduced and the tracking is broken due to float solution of RTK. A tracking correction method based on RTK localization data is proposed. First, the location data of the float solution is filtered by the median filtering algorithm, which reduces the location err and dispersion of the float solution. Then the forward and inverse position estimation is performed by using the fixed solution data before and after the track breakage. The filtering of the float solution positioning data for translation and rotation, make the first point and the end point coincidence with the point estimated. Complete measurement track stitching. In the actual coal inventory experiment, the measurement error is improved from 12.6% to 0.79% after tracking corrected. By using this method we can effectively solve the tracking deviation of actual measurement of coal, improve the portable coal inventory instrument measuring accuracy and adaptability.