基于惯性导航和里程仪的煤矿采掘设备定位

摘要

Research and application of inertial navigation technology in coal mines at home and abroad was analyzed,and the point was proposed that inertial-level strapdown fiber inertial navigation technology is suitable for positioning of coal mining equipment.Inertial navigation and odometer are combined to perform co-location and navigation,and mileage information is used to correct inertial navigation measurement data to improve precision of positioning and navigation.Method of dynamic initial alignment of inertial navigation,specific method of inertial navigation and odometer coordinate positioning,and Kalman filter equation used for error estimation,correction and compensation were given.Experimental results show that the maximum error of straightness measurement of working surface is 90 mm,the average error is 60 mm,and height measurement error is 20 mm after adopting the inertial navigation and odometer coordinate positioning technology,which meets accuracy require of straightness measurement of working face.%分析了国内外煤矿惯性导航技术的研究和应用情况,指出惯性级光纤捷联惯导技术适用于煤矿采掘设备定位;将惯性导航和里程仪相结合进行协同定位和导航,利用里程信息对惯性导航测量数据进行校正,以提高定位导航精度;给出了惯性导航动态初始对准方法,惯性导航与里程仪协同定位具体方法,以及用于误差估计、修正和补偿的卡尔曼滤波方程.实验结果表明,采用惯性导航与里程仪协同定位技术后,工作面直线度测量最大误差为90 mm、平均误差为60 mm,高程测量误差为20 mm,符合工作面直线度测量精度要求.