面向掘进机的超宽带位姿协同检测方法
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摘要
为符合安全高效生产对掘进机作业的要求,提出了一种面向掘进机的超宽带位姿协同检测方法。依据TDOA(波达时间差)定位原理及P440模块的测距信息建立定位模型,利用协同定位算法得到定位点坐标的最终估计值。对比Chan算法与协同算法的定位点仿真分布,并分析协同算法的三轴定位精度。建立了空间全断面定位误差场,得出协同算法的空间定位精度变化规律。对机身定位点进行布局设计,解算得到掘进机的姿态角。结果表明:在90 m范围内,协同算法的Y轴定位误差基本上可以保持2 mm,而X轴、Z轴定位误差由0. 4至4 cm呈线性增加。随测量距离的增大,在巷道X-Y断面上,定位误差呈线性增加;在巷道X-Z断面上,定位误差的随机性增加。姿态角误差均由0. 2°至1. 5°呈线性增加,满足掘进机位姿检测精度的需求。
In order to meet the requirements of safety and high efficiency production for the operation of roadheader,a method of UWB pose collaborative detection was proposed.Based on TDOA( time difference of arrival) positioning principle and P440 module's ranging information,the positioning model was established using the cooperative algorithm to obtain the final estimate coordinates of the fuselage positioning point.This paper compared the positioning point simulation distribution of Chan algorithm and collaborative algorithm,then analysed the three axis positioning accuracy of the cooperative algorithm and obtained the law of variation in the way of establishing the spatial full-section error field.To obtain the pose angles,the author carried out layout design for the positioning point. The results show that the Y-axis positioning error of the cooperative algorithm can basically stay at 2 mm,while the X-axis and Z-axis are linearly increased from 0.4 to 4 cm within 90 m.In the X-Y section of the roadway,the positioning error increases linearly and in the X-Z section of the roadway,the randomness of positioning error increases with the increase of measurement distance.The error of the pose angles is linearly increased from 0.2 to 1.5 degrees,which satisfies the requirement of the pose detection accuracy of roadheader.
In order to meet the requirements of safety and high efficiency production for the operation of roadheader,a method of UWB pose collaborative detection was proposed.Based on TDOA( time difference of arrival) positioning principle and P440 module's ranging information,the positioning model was established using the cooperative algorithm to obtain the final estimate coordinates of the fuselage positioning point.This paper compared the positioning point simulation distribution of Chan algorithm and collaborative algorithm,then analysed the three axis positioning accuracy of the cooperative algorithm and obtained the law of variation in the way of establishing the spatial full-section error field.To obtain the pose angles,the author carried out layout design for the positioning point. The results show that the Y-axis positioning error of the cooperative algorithm can basically stay at 2 mm,while the X-axis and Z-axis are linearly increased from 0.4 to 4 cm within 90 m.In the X-Y section of the roadway,the positioning error increases linearly and in the X-Z section of the roadway,the randomness of positioning error increases with the increase of measurement distance.The error of the pose angles is linearly increased from 0.2 to 1.5 degrees,which satisfies the requirement of the pose detection accuracy of roadheader.
引文
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[2]丁雅斌,梅江平,张文昌,等.基于单目视觉的并联机器人末端位姿检测[J].机械工程学报,2014,50(21):174-179.DING Yabin,MEI Jiangping,ZHANG Wenchang,et al. Position and orientation measurement of parallel robot based on monocular vision[J].Journal of Mechanical Engineering,2014,50(21):174-179.
[3]陶云飞,宗凯,张敏骏,等.基于i GPS的掘进机单站多点分时机身位姿测量方法[J].煤炭学报,2015,40(11):2611-2616.TAO Yunfei,ZONG Kai,ZHANG Minjun,et al.A position and orientation measurement method of singlestation,multipoint and time-sharing for roadheader body based on i GPS[J]. Journal of China Coal Society,2015,40(11):2611-2616.
[4]杨文辉,林嘉睿,高扬,等.双护盾硬岩隧道掘进机位姿测量系统[J].光学学报,2015,35(11):147-155.YANG Wenhui,LIN Jiarui,GAO Yang,et al.Pose measurement system of double shield universal compact TBM[J].Acta Optica Sinica,2015,35(11):147-155.
[5]何斐彦,林嘉睿,高扬,等.单目视觉与倾角仪组合优化的位姿测量系统[J].光学学报,2016,36(12):190-197.HE Feiyan,LIN Jiarui,GAO Yang,et al. Optimized pose measurement system combining monocular vision with inclinometer sensors[J].Acta Optica Sinica,2016,36(12):190-197.
[6]杜雨馨,刘停,童敏明,等.基于机器视觉的悬臂式掘进机机身位姿检测系统[J].煤炭学报,2016,41(11):2897-2906.DU Yuxin,LIU Ting,TONG Minming,et al.Pose measurement system of boom-type roadheader based on machine vision[J].Journal of China Coal Society,2016,41(11):2897-2906.
[7] SCHAN H C,ROBINSON A Z.Passive source localization employing in-tersecting spherical surfaces from time-of-arrival differences[J].Acoustics,Speech and Signal Processing,IEEE Transactions on,1987,35(8):1223-1225.
[8] YANG K,AN J,BU X,et al.Constrained total least-squares location algorithm using time-difference-of-arrival measurements[J]. Vehicular Technology,IEEE Transactions on,2010,59(3):1558-1562.
[9]田孝华,周义建.无线电定位理论与技术[M].北京:国防工业出版社,2011.TIAN Xiaohua,ZHOU Yijian. Theory and technology of wireless loca-tion[M].Beijing:National Defense Industry Press,2011.
[10] REED J H,KRIZMAN K J,WOERRER B D,et al. An overview of the chal-lenges and progress in meeting the E-911 requirement for location service[J]. IEEE Communication Magazine,1998,36(4):30-37.
[11]吴绍华,张乃通.室内信道环境下UWB精确测距研究[J].通信学报,2007,28(4):65-71.WU Shaohua,ZHANG Naitong. Research on accurate ranging of UWB under indoor environments[J]. Journal on Communication,2007,28(4):65-71.
[12] FOERSTER J,GREEN E,SOMAYAZULU S,et al. Ultra-wideband technology for short-or medium-range wireless communications[J].Intel Technology Journal,2001,10(10):12-18.
[13] FU S,LI Y,ZHANG M,et al.Ultra-wideband pose detection system for boom-type roadheader based on Caffery transform and Taylor series expansion[J].Measurement Science&Technology,doi.org/10.1088/1361-6501/aa91c0.
[14] CHAN Y T,HO K C.A simple and efficient estimator for hyperbolic location[J].IEEE Trans on Signal Processing,1994,42(8):1905-1915.
[15] TORRIERI D J. Statistical theory of passive location systems[J].IEEE Transactions on Aerospace and Electronic Systems,1984,20(2):183-198.
[16]符世琛,李一鸣,宗凯,等.面向掘进机的超宽带位姿检测系统精度分析[J].仪器仪表学报,2017,38(8):1978-1987.FU Shichen,LI Yiming,ZONG Kai,et al. Accuracy analysis of UWB pose detection system for roadheader[J]. Chinese Journal of Scientific Instrument,2017,38(8):1978-1987.
[17]符世琛,李一鸣,杨健健,等.基于超宽带技术的掘进机自主定位定向方法研究[J].煤炭学报,2015,40(11):2603-2610.FU Shichen,LI Yiming,YANG Jianjian,et al. Research on autonomous positioning and orientation method of roadheader based on ultra wide-band technology[J].Journal of China Coal Society,2015,40(11):2603-2610.