一种采用捷联惯导的采煤机动态定位方法

摘要

针对采煤机定位是三维体定位的情况,运用捷联惯导系统中三轴加速度计和陀螺仪对采煤机的实时线性加速度和实时角速度进行测量,得到采煤机在载体坐标系下的加速度和角速度。由于在载体坐标系下不能直接进行定位计算,故进行坐标变换,构建了采煤机在惯性坐标系中的导航方程,通过对加速度和角速度进行积分运算,获得采煤机位置和姿态数据。最后,在建立采煤机惯性坐标系导航模型的基础上,进行了采煤机惯性导航定位仿真分析。其结果表明,采用捷联惯导能够较好地实现采煤机动态定位。%Proposed a strap down inertial navigation system for dynamically shearer positioning and established a shearer inertial navigation model.Considering the shearer as a three-dimensional body,applied tri-axial accelerometer and suspended gyroscope in the strap down inertial navigation system for real time linear acceleration as well as angular velocity measuring of the shearer;by transforming carried the coordinates to inertial coordinate,also built navigation equations in the inertial coordinate system,and integrated the acceleration and the angular velocity to obtain position and attitude data of the shearer,finally,simulated the shearer inertial navigation system.The results show that the strap down inertial navigation system is applicable to dynamic shearer position.