基于航位推算的深海采矿车定位系统研究

针对深海钴结壳矿区地形不平坦, 采矿车作业环境恶劣, 车体打滑严重等复杂情况, 设计了一种基于从动轮测速的航位推算定位方法。用不同时刻、不同斜面复合三维地形的方法, 建立非平坦地形上作业采矿车的航迹推算模型, 采用电子罗盘、角位移传感器等测量采矿车的动态参数, 实现采矿车连续、实时定位。试验结果表明, 该定位系统能适应复杂的工作环境, 具有较高的定位精度。

Study on Positioning System of Deep-sea Mining Vehicle Based on Dead Reckoning

Taking into account of the complicated situation of uneven topography in deep-sea cobalt crust area, mining vehicle's wheels frequently skidding, a dead reckoning position method has been designed based on driven wheel. A track plotting model was established for mining vehicle operated on the uneven topography by using the complex three-dimensional terrain map of different time and with different inclined surface, and the dynamic parameters of mining vehicle were measured with electronic compass and angular displacement sensors, therefore achieving continuous real-time positioning. Test results show that this positioning system is suitable for the complex working environment and has a high positioning accuracy.