基于模糊AKF地磁辅助导航的采煤机定位方法

摘要

A shearer dynamic positioning method based on geomagnetic navigation with fuzzy-adaptive Kalman filtering(AKF)is proposed to solve the problem that inertial navigation system generates accumulated error in shearer positioning and low real-time positioning precision.Measurement noise covariance matrix online adaptive adjusting is realized by combining inertial navigation with geomagnetic aided technology with Iterative Closest Contour Point(ICCP)algorithm and introducing the method of fuzzy AKF.The shearer inertial navigation system is simulated,and the simulation results show that the suggested method can overcome the shortcoming of positioning error of inertial navigation accumulate with time and precise positioning of shearer can be realized in real time.%针对惯导在采煤机定位时产生累积误差以及实时定位精度低等问题,提出了基于模糊自适应卡尔曼滤波(AKF)惯性地磁辅助惯性导航的采煤机动态定位方法.通过迭代最近等值点(ICCP)算法将惯导与地磁辅助技术组合,并引入模糊自适应的卡尔曼滤波方法,实现了在线自适应调整测量噪声方差阵.通过对采煤机进行定位仿真分析,结果表明:可克服惯导定位误差随时间累积的缺点,实现了采煤机实时高精度定位.