Research On Positioning And Attitude Determination Of Roadheader Based On SINS/WSN

The scale of roadway and tunnel excavation in coal mines in my country is huge.As an important equipment for mechanized excavation of roadways and tunnels,roadheaders are currently mainly operated by humans.There are a series of problems such as low safety,poor roadway forming quality,and low work efficiency.The demand for roadheader automation and unmanned is becoming more and more urgent,and the positioning and attitude technology of roadheaders,as the basis of automating and unmanned roadheaders,requires urgent research.Based on the odometer-assisted SINS positioning and UWB positioning based on EKF filtering,this paper combines the two positioning methods to improve the positioning accuracy of the positioning system.(1)Aiming at the cumulative error problem in the pure strapdown inertial navigation system,based on the working principle of inertial navigation,the conversion relationship between coordinate systems is established,and on the basis of the strapdown inertial navigation system’s position and attitude calculation strategy,the odometer is introduced to assisted calculation,based on strapdown inertial navigation system and odometer error model,odometer-assisted strapdown inertial navigation system combined positioning model is established.SINS positioning and attitude determination simulation and experimental results show that the cumulative error of strapdown inertial navigation system is effectively suppressed in the x and y directions with the aid of the odometer.The average positioning errors in the x and y directions are 13.08 cm and 21.77 cm.But in the z direction,there is still a cumulative error.(2)Comprehensive analysis of various WSN positioning technologies,and UWB positioning technology is selected as the research object of this article.Aiming at the positioning jitter problem in the overtravel of UWB positioning,a UWB positioning solution model is established on the basis of TOF ranging,and the error of UWB positioning is analyzed,and a UWB positioning target tracking model is established based on KF and EKF.UWB positioning experiments are carried out from both static and dynamic positioning to verify the filtering performance of KF and EKF.After filtering,the positioning accuracy of UWB is effectively improved.The positioning accuracy of EKF filtering is the highest,and the average error in the x direction is15.33 cm,The average error in the y direction is 11.76 cm,and the average positioning error in the z direction is 20.03 cm.(3)On the basis of odometer-assisted strapdown inertial navigation system positioning and UWB positioning based on extended Kalman filtering,establish a SINS/UWB positioning data fusion mathematical model,and use loose combination and tight combination to perform data fusion on the two positioning methods.Loose combination and tight combination positioning experiments are carried out in the simulated roadway.The experimental results shows that both loose combination and tight combination can improve the positioning accuracy to a certain extent.The tight combination has the best positioning effect and can better fit the actual positioning.For the trajectory,the average positioning error in the x direction of the compact combination is 12.08 cm,the average positioning error in the y direction is 6.03 cm,and the average positioning error in the z direction is 12.64 cm.(4)Based on the cantilever roadheader test bench,the roadheader positioning and attitude determination experiment has verified the effectiveness and reliability of the odometer-assisted SINS positioning and the UWB positioning based on EKF filtering.The tight combination positioning experiment on the roadheader test bench shows that,On the basis of odometer-assisted SINS and UWB positioning based on extended Kalman filtering,the combined positioning result is compared with a single positioning method,and the positioning accuracy is effectively improved.The average positioning error in the x direction is 8.65 cm,and the y direction The average positioning error on the above is 11.34 cm,and the average positioning error in the z direction is 11.04 cm.The thesis has 92 figures,17 tables,and 96 references.