The Application Of Strapdown Inertial Navigation System In Unmanned Roadheader

Boom-type Roadheader have be used underground widely, its environment is bad. It is a hotspot that how to control the roadheader and release workers from hard working and dangerous condition. Because there are many restrictions, the paper explores the use of Inertial Navigation System(INS) in roadheader to make it to be intelligent and unmanned.On the basis of introducing the SINS's structure and system principle, this paper analyses the arithmetic of attitude matrix; Finally, it explores the realization of soft and hard ware in unmanned roadheader system.To navigate, the navigation computer gets gyroscope and accelerometer parameters from Inertial Measurement Unit along inertial frame three axes and compute them. The computer must compute the attitude matrix real-time. The arithmetic of attitude matrix is the key. This paper explores the arithmetic of attitude matrix, especially the attitude arithmetic-quaternion.This paper explores the control and implement of unmanned roadheader. The communication and control net is CAN bus. The system is composed of monitoring unit, embedded controller and measure & operation unit. After the roadheader start up, the upper machine loads track data in the PLC through lower machine and show the designed trace on the screen. From the Inertial Measurement Unit(IMU) and other sensors, we get gyroscope and accelerometer signal and the extend distance and roll angle of roadheader arm. By CAN bus, these signals are transmitted to embedded controller working out the real-time position of roadheader and attitude angles including course angle, pitch angle and roll angle. PLC gets the embedded controller's control signal and controls the roadheader's attitude, drives the roadheader walk and cut along the designed track. The system soft ware is programmed with C++ language, the computer draws practical track on the screen, in contrast with the designed track, thus we could monitor how the roadheader work.The hard ware and soft ware run steadily and effectively in field. The designed track is in accord with practical track on the whole. Thus, we could control the roadheader with SINS signal and make it be unmanned.