运动状态检测的采煤机捷联惯导系统误差组合算法
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摘要
为提高综采工作面采煤机运动位置和姿态的解算精度,通过建立采煤机空间坐标系,分析其空间位置与姿态,构建惯性坐标系下采煤机空间位置方程,考虑姿态角下的滚筒高度模型,提出了一种基于运动状态检测的机载INS动态零速修正方法。结果表明:运动状态检测的组合算法具有较高的定位精度,其在x、y、z三个方向的最大定位误差分别为7.29%、2.88%、9.31%,较纯捷联惯导算法相比,其精度分别提高了9.38%、6.12%、15.61%。该方法克服了传统零速修正技术需要每隔一定时间停车的限制,可为采煤机姿态定位提供理论依据,为煤矿智能化开采提供支持。
This paper proposes an airborne INS dynamic zero-velocity update method based on motion state detection, an approach able to improve the calculating precision of shearer's motion position and attitude in fully mechanized mining face. This method is achieved by analyzing its spatial position and attitude by establishing the space coordinate system of shearer and constructing the spatial position equation of shearer in inertial coordinate system and considering the height model of drum under attitude angle. The results show that the combinatorial algorithm of motion state detection has a higher positioning precision, features the maximal positioning errors of 7.29%, 2.88% and 9.31% respectively for x, y and z directions, and achieves a 9.38%, 6.12% and 15.61% higher precision than the strap-down inertial navigation algorithm. The method able to eliminate the need for the traditional zero-velocity update technology to stop at regular intervals could provide theoretical basis for the attitude positioning of shearer and support for the intelligent mining of coal mine.
This paper proposes an airborne INS dynamic zero-velocity update method based on motion state detection, an approach able to improve the calculating precision of shearer's motion position and attitude in fully mechanized mining face. This method is achieved by analyzing its spatial position and attitude by establishing the space coordinate system of shearer and constructing the spatial position equation of shearer in inertial coordinate system and considering the height model of drum under attitude angle. The results show that the combinatorial algorithm of motion state detection has a higher positioning precision, features the maximal positioning errors of 7.29%, 2.88% and 9.31% respectively for x, y and z directions, and achieves a 9.38%, 6.12% and 15.61% higher precision than the strap-down inertial navigation algorithm. The method able to eliminate the need for the traditional zero-velocity update technology to stop at regular intervals could provide theoretical basis for the attitude positioning of shearer and support for the intelligent mining of coal mine.
引文
[1] 葛世荣,王忠宾,王世博.互联网+采煤机智能化关键技术研究[J].煤炭科学技术,2016,44(7):1-9.
[2] 葛世荣,苏忠水,李昂,等.基于地理信息系统(GIS) 的采煤机定位定姿技术研究[J].煤炭学报,2015,40( 11) :2503-2508.
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[7] 毛君,钟声,马英.基于模糊AKF 地磁辅助导航的采煤机定位方法[J].传感器与微系统,2018,37(3):48-50.
[8] 王世佳,王世博,张博渊,等.采煤机惯性导航定位动态零速修正技术[J].煤炭学报,2018,43(2):578-583.
[9] 张丹,刘春生,王爱芳.分布质量模型下采煤机牵引部扭振系统动态特性及优化研究[J].黑龙江科技大学学报,2017,27(2):109-113.
[10] 张庆,王学文,谢嘉成,等.基于捷联惯导系统的采煤机定位与姿态调整[J].工矿自动化,2017,43(10):83-89.
[11] 颜开思,刘亚龙,张锐.一种车载惯性导航系统误差抑制方法[J].现代导航,2017,4(2):97-101.
[12] 张博渊,王世博,葛世荣.惯性导航初始对准偏差与安装偏差校准方法对采煤机定位精度影响[J].煤炭学报,2017,42(3):789-795.
[13] 刘本勇,高峰,姜惠,等.平衡摇臂式移动机器人姿态控制算法[J].北京航空航天大学学报,2018,44(2):391-398.
[14] 冯引安,祝小平,周洲.弹性飞翼无人机自适应反步终端滑模姿态控制[J].华中科技大学学报(自然科学版),2018,46(3):42-47.
[2] 葛世荣,苏忠水,李昂,等.基于地理信息系统(GIS) 的采煤机定位定姿技术研究[J].煤炭学报,2015,40( 11) :2503-2508.
[3] 李昂,郝尚清,王世博,等.基于SINS/轴编码器组合的采煤机定位方法与试验研究[J].煤炭科学技术,2016,44(4):95-100.
[4] 郝尚清,李昂,王世博,等.采煤机惯性导航安装偏差对定位误差的影响[J].煤炭学报,2015,40(8):1963-1968.
[5] 郝尚清,王世博,谢贵君,等.长壁综采工作面采煤机定位定姿技术研究[J].工矿自动化,2014,40(6):21-25.
[6] 杨海.SINS/WSN组合定位下采煤机精确位姿感知理论及技术研究[D].徐州:中国矿业大学,2016.
[7] 毛君,钟声,马英.基于模糊AKF 地磁辅助导航的采煤机定位方法[J].传感器与微系统,2018,37(3):48-50.
[8] 王世佳,王世博,张博渊,等.采煤机惯性导航定位动态零速修正技术[J].煤炭学报,2018,43(2):578-583.
[9] 张丹,刘春生,王爱芳.分布质量模型下采煤机牵引部扭振系统动态特性及优化研究[J].黑龙江科技大学学报,2017,27(2):109-113.
[10] 张庆,王学文,谢嘉成,等.基于捷联惯导系统的采煤机定位与姿态调整[J].工矿自动化,2017,43(10):83-89.
[11] 颜开思,刘亚龙,张锐.一种车载惯性导航系统误差抑制方法[J].现代导航,2017,4(2):97-101.
[12] 张博渊,王世博,葛世荣.惯性导航初始对准偏差与安装偏差校准方法对采煤机定位精度影响[J].煤炭学报,2017,42(3):789-795.
[13] 刘本勇,高峰,姜惠,等.平衡摇臂式移动机器人姿态控制算法[J].北京航空航天大学学报,2018,44(2):391-398.
[14] 冯引安,祝小平,周洲.弹性飞翼无人机自适应反步终端滑模姿态控制[J].华中科技大学学报(自然科学版),2018,46(3):42-47.