Design And Application Research Of Attitude Heading Reference System In Thin Seam Mining

The difference between thin seam mining technology and ordinary coal miningtechnology is vast. Compared with ordinary mining technology, thin seam miningtechnology is more costly and complex. Currently, during mining process the tunnelingmachine requires more manual intervention to work, because it’s unable to do automatedoperation and monitoring of the surrounding environment. As a result it’s meaningful todesign an autonomous navigation system and a video surveillance system. Attitudeheading reference system which is based on inertial devices can provide importantinformation for the navigation system, such as posture, meanwhile providing a supportingrole to get sharp video images.Based on the above situation, this paper do a research on tunneling machinepositioning technology, which is designed to meet the need of integrated navigationsystem. Since there is no GPS signal under the shaft, only inertial motion unit can berelied on to location. However, due to the drift and noise brought by the output of inertialmotion unit, after a long integration, the error will accumulate and eventually lead to aninaccurate result. So correction is necessary in the navigation system. In this system twocorrection means are presented. The first is to get the point cloud data of the surroundingenvironment by laser range finder, and then use the iterative closest point algorithm (ICP)to calculate the displacement between two location, thereby correcting the result producedby inertial navigation; Secondly, because ICP algorithm operation is too slow thecorrection period is long, and therefore a higher-frequency correction is required. By laserrange finder to measure the distance from a fixed point whose position is known, ahigher-frequency correction is available. By means of these two corrections, effectivelyaided inertial navigation is available.In the process of video surveillance, because of the presence of vibration of tunnelingmachine image will be blurred. In this paper, based on the mathematical model of cameraimaging, quantized relationship between motion and blur have been analyzed. Differentfrom the traditional image deblurring which iterative algorithm is always used, a hardwaresolution which use attitude heading reference system is design and it’s proved effective to eliminate blurry.