惯性导航初始对准偏差与安装偏差校准方法对采煤机定位精度影响

摘要

以惯性导航元件与里程计为传感元件的航位推算方法是综采工作面可行的采煤机定位方法.通过建立航位推算误差模型,分析了惯性导航元件初始对准偏差角和安装偏差角对采煤机运行过程中定位精度的影响.结合航位推算轨迹与实际轨迹的相似性,提出了基于两点法的两种偏差角校准算法,并通过试验验证了校准算法的有效性.在试验条件下,校准前后采煤机定位50％球概率误差(SEP)半径值分别为12.062 m和0.104 m.采煤机往复截割过程中一个截割循环内采煤机的定位精度保持在相同的水平.%Dead reckoning (DR) algorithm based on inertial measurement unit and odometer is a feasible positioning method for a shearer in a longwall mining face.An error model of DR algorithm was developed in this paper.The effect of initial alignment error angle and installation noncoincidence angle of inertial measurement unit on the positioning accuracy was analyzed.A calibration method of the two deviation angles with the two-point method was based on the similarity of the dead reckoning and actual tracks.It was verified through filed tests.The spherical error probable (SEP) radius of the shearer position was 12.062 m and 0.104 m before and after the calibration of two deviation angles.The positioning error was maintained as a same value in each running cycle when a shearer cut a coalwall back and forth.