Research On Positioning And Attitude Measurement Method Of Coal Roadheader Based On Inertial Combination

The intelligent research and transformation of underground mining equipment is an important part of the development of intelligent mines.The positioning and attitude measuring system of coal mining machinery is the key equipment to realize automation and intelligent of mining equipment.According to the needs of school enterprise cooperation and the requirements of enterprises for intelligent transformation of roadheader,the positioning and attitude measurement method of cantilever roadheader is studied in this thesis.On the basis of consulting and investigating the positioning and attitude measurement methods and technologies of mining equipment at home and abroad,and according to the working accuracy and performance requirements of the roadheader,the thesis conducts a more in-depth study on the positioning and attitude measurement methods of the roadheader inertial combination,establishes the moving coordinate system and coordinate transformation model of the roadheader,analyzes the error of the strapdown inertial navigation system,and provides a feasible method for the selection of the inertial measurement unit of the roadheader positioning and attitude measurement system,On this basis,the initial alignment of the inertial navigation system is summarized,which lays the foundation for the further study of the heading machine inertial integrated positioning and attitude measurement system.In this thesis,the combined positioning and attitude measurement method of roadheader based on inertia+laser target is studied.Through vehicle test and simulation analysis,although the positioning and attitude measurement function of roadheader can be realized by using rotary tracking laser target,due to the complexity of underground tunneling environment,the impact of laser spot impact on the accuracy of laser target positioning and attitude measurement,the application of this method needs further improvement.In order to further improve the positioning and attitude measurement accuracy of the roadheader,this thesis conducts research on the integrated positioning and attitude measurement technology based on inertial+dynamic tracking total station.After the initial longitude and latitude are input into the inertial navigation system,the total station gives the coordinates of the roadheader in the navigation coordinate system,and constantly combines the position and attitude data fed back by the inertial navigation system to compensate and correct the roadheader in the process of advancing.After tunneling for a certain distance,the roadheader stops moving,and then moves the total station forward.From the current unchanged coordinates of the roadheader,combined with the measured coordinates of the total station after moving,determine the new position of the total station in the navigation coordinate system,and the roadheader moves forward again.At this time,the error correction for the roadheader can continue after coordinate transformation.The system uses Kalman filter to fuse the position information measured by the total station and the position and attitude information measured by the strapdown inertial navigation system,and realizes the positioning and attitude measurement function of the roadheader.The research results of this thesis have been well applied in the intelligent transformation of a certain type of cantilever roadheader,and the test accuracy meets the requirements of the transformation of the roadheader.Based on the research of the method of dynamic tracking total station+inertial integrated positioning and attitude measurement,the key problems in the automatic intelligent transformation of the roadheader have been solved,which plays an important role in reducing staff and increasing efficiency and safety in production,It has very good economic value and social benefits for roadheader production enterprises and coal mining enterprises.