基于捷联惯导的采煤机定位定姿技术实验研究

针对煤矿井下"三机"自动化中的采煤机定位精度较低的问题,根据采煤机工作环境恶劣、空间封闭、干扰较多的特点,提出了一种基于捷联惯性导航(SINS)的采煤机位姿定位方法。该方法利用捷联惯性导航系统中的三轴加速度计和三轴陀螺仪实时测量采煤机的加速度和角速度信息,并根据四元数捷联惯导位姿解算方法解算出采煤机的实时位置和姿态信息,得到精确的采煤机运动轨迹,实现对采煤机的实时体定位。对定位平台进行仿真和利用综采工作面"三机"实验装置搭建采煤机捷联惯导定位实验平台进行实验,结果表明,采煤机捷联惯导定位系统能够准确跟踪基准轨迹,采煤机沿工作面方向运行20 m,位置姿态跟踪误差分别为0.5 m和0.7°,满足煤矿采煤机定位精度要求,该系统能够实现采煤机的实时精确定位。

Experimental study on position and attitude technique for shearer using SINS measurement

A position and attitude method for shearer cutting using SINS(strap down inertial navigation system) measurement was proposed to solve the problem of low positioning accuracy of shearer in terms of “three machines” automation in longwall coal mine due to the characteristics of poor working conditions，enclosed space and other interference.The tri axial accelerometer and suspended gyroscope in the SINS was applied to measure the acceleration and angular velocity of shearer in real time.The position and attitude data of shearer were then calculated by the SINS solution method of position and attitude with quaternion.The accurate trajectory of shearer was obtained and the comprehensive positioning of shearer can be realized.Obtained by the simulation of positioning system and the experiment of the SINS test platform which was constructed by the “three machines” experimental equipment of mechanized mining face，the results show that the system can track the standard trajectory and the tracking error of position and attitude is 0.5 m and 0.7 deg respectively，while the shearer moves 20 m along the mining face direction.The positioning system meets the positioning accuracy requirements of mining and can be applied to precisely position the shearer in real time.