CN113236363B - Mining equipment navigation positioning method, system, equipment and readable storage medium - Google Patents
Mining equipment navigation positioning method, system, equipment and readable storage medium Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/14—Telescopic props
- E21D15/44—Hydraulic, pneumatic, or hydraulic-pneumatic props
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/50—Component parts or details of props
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/06—Transport of mined material at or adjacent to the working face
- E21F13/066—Scraper chain conveyors
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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Abstract
The invention discloses a navigation positioning method, a navigation positioning system, navigation positioning equipment and a readable storage medium for mining equipment, which comprise the steps of acquiring the position relation between two ends of a scraper conveyor and a fully-mechanized mining face conveying roadway marking plate and a fully-mechanized mining face return air roadway marking plate respectively, and calibrating the initial position of an inertial navigation system; fusing inertial navigation information and odometer information to obtain real-time pose information of the coal mining machine; fitting the position information of the coal mining machine to obtain the straightness of the scraper conveyor, and obtaining the navigation and positioning result of the mining equipment; according to the invention, the initial position calibration is carried out on the inertial navigation system by utilizing the position relation between the two ends of the scraper conveyor and the preset marking plate of the fully mechanized mining face, so that the compensation of the position and attitude detection accumulated error after the combined positioning operation of the inertial navigation system and the odometer is realized; acquiring real-time pose information of the coal mining machine through fusion of inertial navigation information and odometer information, and fitting the position information of the coal mining machine to obtain straightness of the scraper conveyor; the positioning accuracy is high, and the time consumption for time calibration is short.
Description
Technical Field
The invention belongs to the technical field of coal mining automation, and particularly relates to a navigation positioning method, a navigation positioning system, navigation positioning equipment and a readable storage medium for mining equipment.
Background
Currently, inertial navigation systems are mostly adopted for navigation and positioning of coal face equipment; the inertial navigation system mainly adopts inertial measurement equipment such as a gyroscope and acceleration and the like as a sensitive device for navigation, and can solve the information such as the speed, displacement, course angle and the like of a measured object by constructing a model coordinate system and an algorithm on the basis of initial measurement data such as angular speed, linear acceleration and the like.
The inertial navigation system generally adopts an integral algorithm to calculate the position information of the measured object, and the accumulated error is larger and the positioning accuracy is poorer and worse along with the increase of the working time; meanwhile, the inertial navigation system needs to perform time calibration, and the time calibration takes longer.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a navigation positioning method, a navigation positioning system, navigation positioning equipment and a readable storage medium for mining equipment, which are used for solving the technical problems that when an inertial navigation system is adopted to navigate coal face equipment, the positioning accuracy is poor, the time for time calibration is long and the real-time updating cannot be realized.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the invention provides a navigation and positioning method of mining equipment, which comprises the following steps:
Acquiring the position relation between two ends of the scraper conveyor and a fully mechanized mining face conveying roadway marking plate and a fully mechanized mining face return air roadway marking plate respectively, and carrying out initial position calibration on an inertial navigation system;
fusing inertial navigation information and odometer information to obtain real-time pose information of the coal mining machine;
Fitting the position information of the coal mining machine to obtain the straightness of the scraper conveyor, and obtaining the navigation and positioning result of the mining equipment.
Further, a laser radar system is adopted to acquire the position relation between the two ends of the scraper conveyor and the comprehensive mining face transportation roadway identifier and the comprehensive mining face return air roadway identifier respectively;
the laser radar systems are arranged at two ends of the scraper conveyor, and the fully mechanized mining face transportation roadway identifier and the fully mechanized mining face return roadway identifier are both laser radar identifiers; the laser radar marker is arranged on the upper part of the fully mechanized mining face transportation roadway and the fully mechanized mining face return air roadway.
Further, the Kalman filtering algorithm is adopted to fuse the inertial navigation information and the odometer information, so that real-time pose information of the coal mining machine is obtained; the real-time pose information of the coal mining machine comprises a course angle, a pitch angle and a roll angle of the coal mining machine.
Further, a Kalman filtering algorithm is adopted to carry out a fusion process on inertial navigation information and odometer information, and the fusion process is specifically as follows:
selecting speed error, attitude error, position error, gyro zero bias, accelerometer zero bias and odometer readable factor error of an inertial navigation system as state quantity of an inertial navigation system-odometer combined system;
selecting a difference value of position information of the speedometer and the inertial navigation system as a measurement value of the inertial navigation system-speedometer combined system;
Sending the local optimal estimation and the local optimal error covariance matrix output by the Kalman filter and the laser radar system into a main filter for information fusion to obtain a global optimal estimation value and a global optimal error covariance matrix of a system state measurement value;
And carrying out error correction on the strapdown inertial navigation system in real time by using the obtained global optimal estimated value of the strapdown inertial navigation error state to obtain real-time pose information of the coal mining machine.
Further, the fitting process is carried out on the position information of the coal mining machine, specifically:
and correcting the accumulated errors of the inertial navigation information and the odometer information by adopting laser radar information, and obtaining the absolute position of the coal mining machine in the advancing direction of the hydraulic support.
Further, the inertial navigation system is arranged in the coal mining machine, and the inertial navigation information comprises angular velocity and linear acceleration.
Furthermore, an initial position calibration process is carried out on the inertial navigation system, and a quaternion model is adopted to update and calculate the inertial navigation information so as to obtain the attitude information, the speed information and the position information of the inertial navigation system.
The invention also provides a navigation and positioning system of the mining equipment, which comprises an initial calibration module, an information fusion module and an output module;
the initial calibration module is used for acquiring the position relation between the two ends of the scraper conveyor and the comprehensive mining face conveying roadway marking plate and the comprehensive mining face return air roadway marking plate respectively and carrying out initial position calibration on the inertial navigation system;
The information fusion module is used for fusing the inertial navigation information and the odometer information to acquire real-time pose information of the coal mining machine;
And the output module is used for fitting the position information of the coal mining machine to obtain the straightness of the scraper conveyor, namely obtaining the navigation and positioning result of the mining equipment.
The invention also provides a mining equipment navigation positioning device, which comprises a memory, a processor and executable instructions stored in the memory and capable of running in the processor; and the processor realizes the mining equipment navigation positioning method when executing the executable instructions.
The invention also provides a computer readable storage medium, wherein the computer executable instructions are stored on the computer readable storage medium, and the executable instructions realize the mining equipment navigation positioning method when being executed by a processor.
Compared with the prior art, the invention has the beneficial effects that:
The invention provides a navigation positioning method and a navigation positioning system for mining equipment, which are used for carrying out initial position calibration on an inertial navigation system by utilizing the position relation between two ends of a scraper conveyor and a preset identification plate of a fully-mechanized mining working face, so as to realize the compensation of the accumulated errors of pose detection after long-time operation in the combined positioning process of the inertial navigation system and an odometer; acquiring real-time pose information of the coal mining machine through fusion of inertial navigation information and odometer information, and fitting position information of the coal mining machine to obtain straightness of the scraper conveyor; the positioning accuracy is high, the time consumption for time calibration is short, a good foundation is laid for automatic alignment of the hydraulic support of the fully mechanized mining face, and the method has important significance for intelligent mining of the coal mine.
Drawings
FIG. 1 is a block diagram of an arrangement of a combined inertial navigation system according to the present invention;
FIG. 2 is a flow chart of the inertial navigation information fusion process in the present invention;
FIG. 3 is a graph showing the y-direction displacement of the shearer in an embodiment to and fro at a 150m face;
fig. 4 is a graph showing a straightness detection error of the scraper conveyor in the embodiment.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects solved by the invention more clear, the following specific embodiments are used for further describing the invention in detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides a navigation positioning method of mining equipment, which utilizes a combined inertial navigation system to detect the straightness of a scraper conveyor of a fully mechanized mining face; the combined inertial navigation system comprises an inertial navigation system, an odometer and a laser radar system; by fusing the information of the inertial navigation system, the odometer and the laser radar system, the straightness error of the scraper conveyor is effectively reduced, and a good foundation is laid for automatic alignment of the hydraulic support of the fully mechanized mining face; the method specifically comprises the following steps:
Step 1, acquiring the position relation between two ends of a scraper conveyor and a fully mechanized mining face conveying roadway marking plate and a fully mechanized mining face return air roadway marking plate respectively by adopting a laser radar system, and calibrating the initial position of an inertial navigation system; the laser radar systems are arranged at two ends of the scraper conveyor, and the fully mechanized mining face transportation roadway identifier and the fully mechanized mining face return roadway identifier are both laser radar identifiers; the laser radar marker is arranged on the upper part of the fully mechanized mining face transportation roadway and the fully mechanized mining face return air roadway; the inertial navigation system is arranged in the coal mining machine, and the inertial navigation information comprises angular velocity and linear acceleration; and updating and resolving the inertial navigation information by adopting a quaternion model to obtain the attitude information, the speed information and the position information of the inertial navigation system.
Step 2, fusing inertial navigation information and odometer information by adopting a Kalman filtering algorithm to obtain real-time pose information of the coal mining machine; the real-time pose information of the coal mining machine comprises a course angle, a pitch angle and a roll angle of the coal mining machine; and adopting a Kalman filtering algorithm to fuse the inertial navigation information and the odometer information, wherein the method comprises the following steps of:
selecting speed error, attitude error, position error, gyro zero bias, accelerometer zero bias and odometer readable factor error of an inertial navigation system as state quantity of an inertial navigation system-odometer combined system;
selecting a difference value of position information of the speedometer and the inertial navigation system as a measurement value of the inertial navigation system-speedometer combined system;
Sending the local optimal estimation and the local optimal error covariance matrix output by the Kalman filter and the laser radar system into a main filter for information fusion to obtain a global optimal estimation value and a global optimal error covariance matrix of a system state measurement value;
And carrying out error correction on the strapdown inertial navigation system in real time by using the obtained global optimal estimated value of the strapdown inertial navigation error state to obtain real-time pose information of the coal mining machine.
Step 3, fitting the position information of the coal mining machine to obtain the straightness of the scraper conveyor, and obtaining the navigation and positioning result of the mining equipment; in the invention, the laser radar information is adopted to correct the accumulated errors of inertial navigation information and odometer information, and the absolute position of the coal mining machine in the advancing direction of the hydraulic support is obtained.
The invention provides a navigation positioning method and a navigation positioning system for mining equipment, which are used for carrying out initial position calibration on an inertial navigation system by utilizing the position relation between two ends of a scraper conveyor and a preset identification plate of a fully-mechanized mining working face, so as to realize the compensation of the accumulated errors of pose detection after long-time operation in the combined positioning process of the inertial navigation system and an odometer; acquiring real-time pose information of the coal mining machine through fusion of inertial navigation information and odometer information, and fitting position information of the coal mining machine to obtain straightness of the scraper conveyor; the positioning accuracy is high, the time consumption for time calibration is short, a good foundation is laid for automatic alignment of the hydraulic support of the fully mechanized mining face, and the method has important significance for intelligent mining of the coal mine.
Examples
In this embodiment, a certain mine is taken as an example; in this embodiment, as shown in fig. 1, the straightness of the scraper conveyor is detected by using a combined inertial navigation system; the combined inertial navigation system comprises an inertial navigation system, an odometer and a laser radar system; the inertial navigation system and the odometer are both arranged on the coal mining machine, the laser radars are arranged at two ends of the scraper conveyor, the laser radar markers are arranged on the upper parts of the fully mechanized mining face transportation lane and the fully mechanized mining face return air lane, and the absolute positions of each laser radar marker on the fully mechanized mining face are known.
As shown in fig. 2, the embodiment provides a navigation positioning method for mining equipment, which utilizes a kalman filtering algorithm to perform information fusion on inertial navigation information and odometer information to obtain pose information of a coal mining machine; in the prior art, as time goes by, an inertial navigation system generates an accumulated error, and an odometer slips and also generates an accumulated error, so that the inertial navigation system-odometer combination generates a pose detection accumulated error; in the embodiment, at the beginning of each cutter cutting, measuring the position of a laser radar marker by using a laser radar system, calculating the absolute positions of the two ends of the scraper conveyor according to the absolute positions of the laser radar marker, and correcting inertial navigation information and position errors generated by the odometer in the cutter cutting by using the absolute position information of the two ends of the scraper conveyor; and the accumulated errors generated by the inertial navigation system and the odometer are corrected through laser radar information at the beginning of each cutter cutting, so that the accuracy detection of the straightness of each cutter of the scraper conveyor is realized.
The method specifically comprises the following steps:
Step 1, acquiring the position relation between two ends of a scraper conveyor and a fully mechanized mining face conveying roadway marking plate and a fully mechanized mining face return air roadway marking plate respectively by adopting a laser radar system, and calibrating the initial position of an inertial navigation system; the inertial navigation system adopts a strapdown inertial navigation system.
In the embodiment, an initial position calibration process is carried out on the inertial navigation system, and a quaternion model is adopted to update and calculate the position of the strapdown inertial navigation system; the updating and resolving of the attitude information, the speed information and the position information of the inertial navigation system are the core part of the inertial navigation system and are main factors affecting the accuracy of the whole system.
The update solution process is as follows:
The inertial navigation system is fixed on the coal mining machine, the coordinate system of the coal mining machine is set as a carrier coordinate system b, the advancing direction of the coal mining machine is an x b axis, the direction perpendicular to the plane of the machine body is a y b axis, and the direction perpendicular to the plane of the machine body is a z b axis; selecting a geographic coordinate system g as a navigation coordinate system n system, and taking the gravity center of the coal mining machine as the center; let x n be the pointing eastern direction, y n be the pointing north direction, z n be the pointing sky direction; heading angle of the coal cutter is marked as phi, pitch angle is marked as theta, and roll angle is marked as gamma.
The gesture quaternion differential equation of the gesture update of the coal mining machine is as follows:
wherein Q (t) is a posture quaternion describing the posture of the coal mining machine; The angular velocity of the coal mining machine measured by a gyroscope; omega ie is the earth rotation angular velocity; h is the altitude of the fully mechanized coal face coal mining machine; v x,vy and v z are velocity components of the shearer in a navigation coordinate system respectively; l is the latitude of the coal cutter on the earth; Is vector quantity Representing the form of a quaternion; r M,RN is the curvature radius of the earth meridian and the mortise circle at the place where the coal mining machine is located respectively.
According to the posture matrix of the coal mining machine, the real-time posture angle of the coal mining machine can be extracted:
The attitude angle is:
the differential equation for updating the speed of the coal mining machine is as follows:
Wherein f= [ f x fy fz]T ] is the specific force measured by the accelerometer; g is the gravity acceleration of the position where the coal mining machine is located.
The differential equation of the position update of the coal mining machine is as follows:
the longitude, latitude and altitude of the position of the coal mining machine can be obtained through integrating the step (6); and installing the inertial navigation system in the coal mining machine, acquiring angular velocity and linear acceleration by a triaxial gyroscope and a triaxial accelerometer, and resolving to obtain attitude information, velocity information and position information of the inertial navigation system.
The laser radar systems are arranged at two ends of the scraper conveyor, and the laser radar markers are arranged at the upper part of the fully mechanized mining face transportation roadway and the upper part of the fully mechanized mining face return air roadway.
Step 2, fusing inertial navigation information and odometer information by adopting a Kalman filtering algorithm to obtain real-time pose information of the coal mining machine; the real-time pose information of the coal mining machine comprises a course angle, a pitch angle and a roll angle of the coal mining machine; in this embodiment, a kalman filtering algorithm is adopted to perform a fusion process on inertial navigation information, mileage and information, and the method specifically includes the following steps:
The odometer is connected with the toothed rail through a shaft connector, the moving distance of the coal mining machine is collected, and inertial navigation accumulated errors are corrected through Kalman filtering fusion; the method comprises the steps of selecting a speed error delta V n, an attitude error phi n, a position error delta P n, a gyro zero deviation epsilon, an accelerometer zero deviation delta and an odometer scale factor error delta K of an inertial navigation system as state quantity of an inertial navigation system-odometer combined system:
the system state equation is:
wherein F (t) is a state transition matrix, G (t) is a system noise coefficient matrix, and W (t) represents a noise matrix.
Selecting a difference value between the odometer and strapdown inertial navigation position information as a measurement value:
Z(t)＝H(t)X(t)+V(t) (9)
wherein H (t) is a measurement matrix; v (t) is the measured white noise of the measurement signal.
Discretizing the state quantity and the measurement of an inertial navigation system-odometer combined system to obtain a discrete state equation and a measurement equation:
Wherein F is a state transition matrix, x k-1 is a state quantity at k-1 time, x k is a state quantity at k time, and u k-1 is an input quantity of the system at k-1 time; w k is process state noise, obeys normal distribution with mean value of 0 and variance of Q; b is an input gain matrix, z k is the observed quantity at k time, and H is a measurement matrix; v k is the measured noise, obeying a normal distribution with a mean of 0 and a variance of R.
Predicting the state quantity of the next moment according to the state quantity of the last moment of the system:
wherein, For the state prediction at time k, u k-1 is the input to the system at time k-1,A state estimation value at the k-1 time; p k-1 is the k-1 time estimation error covariance matrix,Is a prediction error covariance matrix.
Correcting the position error of the fusion positioning and orientation system by using the position difference value of the odometer and the inertial navigation system as an observed quantity:
Wherein K k is the kalman gain; r is the variance, which is related to the accuracy of the sensor.
Updating covariance:
in this embodiment, the Kalman filter and the local optimum estimation of the laser radar output are used And local optimum error covariance matrixSending the information into a main filter for information fusion to obtain a global optimal estimated value of the system stateAnd global optimum error covariance matrixAnd finally, performing error correction on the strapdown inertial navigation system in real time by using the obtained global optimal estimated value of the strapdown inertial navigation error state to obtain real-time pose information of the coal mining machine.
The optimal estimation fusion algorithm is as follows:
And step 3, fitting the detected position information of the coal mining machine, and obtaining the straightness of the scraper conveyor, namely obtaining the navigation and positioning result of the mining equipment.
In the embodiment, in order to verify the feasibility of the scraper conveyor straightness detection method in a complex underground coal mine environment, a combined inertial navigation system is constructed to detect the straightness of the scraper conveyor on the fully mechanized mining face; testing a fully mechanized mining face of a certain mine; the width of the hydraulic support is 1.5m, and the coal mining machine is MG650/1630-WD.
Establishing a coal mining machine coordinate system, wherein an x-axis points to the traction direction of the coal mining machine, a y-axis points to the advancing direction of a working surface, a z-axis points to the height direction, and after the inertial navigation system is aligned, the accuracy of a gyroscope is 0.01 degrees/h, and the accuracy of an accelerometer is 5 multiplied by 10 < -5 > g.
In the test process, the hydraulic support is basically straightened and then is not moved, the coal mining machine reciprocates on a working surface of about 150m, and a reciprocating y-direction displacement curve and a reciprocating y-direction error curve are obtained and are respectively shown in fig. 3 and 4; wherein the maximum error in the y direction is less than 7cm; the embodiment realizes that the straightness detection error of the scraper conveyor of the fully mechanized mining face is smaller than 7cm.
Aiming at the straightness detection of the scraper conveyor of the fully mechanized mining face, the navigation positioning method of the mining equipment adopts a straightness detection method of strapdown inertial navigation, odometer and radar information fusion; the invention uses the Kalman filtering method to fuse the inertial navigation, the odometer and the radar information, can correct the combined positioning accumulated error of the inertial navigation and the odometer and provide a reference coordinate for the inertial navigation, and lays a good foundation for the automatic alignment of the fully mechanized mining face.
In the invention, the combined inertial navigation system consists of strapdown inertial navigation, an odometer and a laser radar; before each coal cutter begins to cut, the laser radar system is utilized to measure the position relation between the two ends of the scraper conveyor and the conveying lane and the return lane marking plate of the fully mechanized mining face respectively to calibrate the initial position of the strapdown inertial navigation, so that the problem of accumulated error compensation of pose detection after the combined positioning method of the strapdown inertial navigation and the odometer is operated for a long time is solved; after alignment is completed, fusion is carried out on strapdown inertial navigation, an odometer and laser radar information by using a Kalman filtering algorithm, and real-time pose information of the coal mining machine is obtained; the straightness of the scraper conveyor can be obtained by fitting the detected position information of the coal mining machine, and a navigation positioning result of the mining equipment is obtained; the hydraulic support automatic straightening device lays a good foundation for automatic straightening of the hydraulic support of the fully mechanized mining face, and has important significance for intelligent mining of coal mines.
The above embodiment is only one of the implementation manners capable of implementing the technical solution of the present invention, and the scope of the claimed invention is not limited to the embodiment, but also includes any changes, substitutions and other implementation manners easily recognized by those skilled in the art within the technical scope of the present invention.
Claims (6)
1. The mining equipment navigation positioning method is characterized by comprising the following steps of:
Acquiring the position relation between two ends of the scraper conveyor and a fully mechanized mining face conveying roadway marking plate and a fully mechanized mining face return air roadway marking plate respectively, and carrying out initial position calibration on an inertial navigation system;
fusing inertial navigation information and odometer information to obtain real-time pose information of the coal mining machine;
Fitting the position information of the coal mining machine to obtain the straightness of the scraper conveyor, and obtaining the navigation and positioning result of the mining equipment;
fusing inertial navigation information and odometer information by adopting a Kalman filtering algorithm to obtain real-time pose information of the coal mining machine; the real-time pose information of the coal mining machine comprises a course angle, a pitch angle and a roll angle of the coal mining machine;
and adopting a Kalman filtering algorithm to fuse the inertial navigation information and the odometer information, wherein the method comprises the following steps of:
selecting speed error, attitude error, position error, gyro zero bias, accelerometer zero bias and odometer readable factor error of an inertial navigation system as state quantity of an inertial navigation system-odometer combined system;
Selecting a difference value of position information of the speedometer and the inertial navigation system as a measurement value of the inertial navigation system-speedometer combined system; the measurement value of the inertial navigation system-odometer combined system is as follows:
wherein, For the moment of timeIs a measurement value of (2); h (t) is a measurement matrix; The state quantity is the state quantity of an inertial navigation system-odometer combined system; v (t) is the measurement white noise of the measurement signal;
Sending the local optimal estimation and the local optimal error covariance matrix output by the Kalman filter and the laser radar system into a main filter for information fusion to obtain a global optimal estimation value and a global optimal error covariance matrix of a system state measurement value;
Performing error correction on the strapdown inertial navigation system in real time by using the obtained global optimal estimated value of the strapdown inertial navigation error state to obtain real-time pose information of the coal mining machine;
A laser radar system is adopted to acquire the position relation between the two ends of the scraper conveyor and the fully-mechanized mining face transportation roadway identifier and the fully-mechanized mining face return air roadway identifier respectively;
The laser radar systems are arranged at two ends of the scraper conveyor, and the fully mechanized mining face transportation roadway identifier and the fully mechanized mining face return roadway identifier are both laser radar identifiers; the laser radar marker is arranged on the upper part of the fully mechanized mining face transportation roadway and the fully mechanized mining face return air roadway;
the fitting process is carried out on the position information of the coal mining machine, and specifically comprises the following steps:
correcting the accumulated errors of inertial navigation information and odometer information by adopting laser radar information to obtain the absolute position of the coal mining machine in the advancing direction of the hydraulic support;
Measuring the position of a laser radar marker by using a laser radar system at the beginning of cutting of each knife, calculating the absolute positions of the two ends of the scraper conveyor according to the absolute positions of the laser radar marker, and correcting inertial navigation information and position errors generated by an odometer in the cutting of the knife by using the absolute position information of the two ends of the scraper conveyor; and the accumulated errors generated by the inertial navigation system and the odometer are corrected through laser radar information at the beginning of each cutter cutting, so that the accuracy detection of the straightness of each cutter of the scraper conveyor is realized.
2. The mining apparatus navigation positioning method according to claim 1, wherein the inertial navigation system is provided in the coal mining machine, and the inertial navigation information includes an angular velocity and a linear acceleration.
3. The mining equipment navigation positioning method according to claim 1, wherein an initial position calibration process is performed on the inertial navigation system, and a quaternion model is adopted to update and solve inertial navigation information so as to obtain attitude information, speed information and position information of the inertial navigation system.
4. The mining equipment navigation positioning system is characterized by comprising an initial calibration module, an information fusion module and an output module;
the initial calibration module is used for acquiring the position relation between the two ends of the scraper conveyor and the comprehensive mining face conveying roadway marking plate and the comprehensive mining face return air roadway marking plate respectively and carrying out initial position calibration on the inertial navigation system;
The information fusion module is used for fusing the inertial navigation information and the odometer information to acquire real-time pose information of the coal mining machine;
The output module is used for fitting the position information of the coal mining machine to obtain the straightness of the scraper conveyor, namely obtaining the navigation and positioning result of the mining equipment;
fusing inertial navigation information and odometer information by adopting a Kalman filtering algorithm to obtain real-time pose information of the coal mining machine; the real-time pose information of the coal mining machine comprises a course angle, a pitch angle and a roll angle of the coal mining machine;
and adopting a Kalman filtering algorithm to fuse the inertial navigation information and the odometer information, wherein the method comprises the following steps of:
selecting speed error, attitude error, position error, gyro zero bias, accelerometer zero bias and odometer readable factor error of an inertial navigation system as state quantity of an inertial navigation system-odometer combined system;
Selecting a difference value of position information of the speedometer and the inertial navigation system as a measurement value of the inertial navigation system-speedometer combined system; the measurement value of the inertial navigation system-odometer combined system is as follows:
wherein, For the moment of timeIs a measurement value of (2); h (t) is a measurement matrix; The state quantity is the state quantity of an inertial navigation system-odometer combined system; v (t) is the measurement white noise of the measurement signal;
Sending the local optimal estimation and the local optimal error covariance matrix output by the Kalman filter and the laser radar system into a main filter for information fusion to obtain a global optimal estimation value and a global optimal error covariance matrix of a system state measurement value;
Performing error correction on the strapdown inertial navigation system in real time by using the obtained global optimal estimated value of the strapdown inertial navigation error state to obtain real-time pose information of the coal mining machine;
A laser radar system is adopted to acquire the position relation between the two ends of the scraper conveyor and the fully-mechanized mining face transportation roadway identifier and the fully-mechanized mining face return air roadway identifier respectively;
The laser radar systems are arranged at two ends of the scraper conveyor, and the fully mechanized mining face transportation roadway identifier and the fully mechanized mining face return roadway identifier are both laser radar identifiers; the laser radar marker is arranged on the upper part of the fully mechanized mining face transportation roadway and the fully mechanized mining face return air roadway;
the fitting process is carried out on the position information of the coal mining machine, and specifically comprises the following steps:
correcting the accumulated errors of inertial navigation information and odometer information by adopting laser radar information to obtain the absolute position of the coal mining machine in the advancing direction of the hydraulic support;
Measuring the position of a laser radar marker by using a laser radar system at the beginning of cutting of each knife, calculating the absolute positions of the two ends of the scraper conveyor according to the absolute positions of the laser radar marker, and correcting inertial navigation information and position errors generated by an odometer in the cutting of the knife by using the absolute position information of the two ends of the scraper conveyor; and the accumulated errors generated by the inertial navigation system and the odometer are corrected through laser radar information at the beginning of each cutter cutting, so that the accuracy detection of the straightness of each cutter of the scraper conveyor is realized.
5. A mining device navigational positioning device comprising a memory, a processor, and executable instructions stored in the memory and executable in the processor; the processor, when executing the executable instructions, implements the method of any of claims 1-3.
6. A computer readable storage medium having stored thereon computer executable instructions which when executed by a processor implement the method of any of claims 1-3.
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