An Autonomous Navigation System Of Mining TBM Based On The Combination Of SINS And OD

The autonomous navigation and positioning system of the mining tunnel boring machine(TBM)can provide the real-time navigation information such as attitude,speed and position for the TBM.The development of navigation technology of TBM has been restricted by such problems as the inability to receive external GPS signals in the coal mine roadway,the long time being shrouded by dust and mist,and the lack of obvious structural characteristics in the roadway.It's difficult to locate in coal mine roadway,and this paper put forward a kind of combination machine autonomous Navigation and positioning System,which based on Strapdown Inertial Navigation System(SINS)and Odometer(OD).The system can give full play to the advantages of SINS and OD in navigation and positioning,and does not need to receive any external information except the TBM,so as to realize fully autonomous navigation and positioning in the closed coal mine roadway.The research contents of this paper mainly include the following points:Firstly,according to the previous literature research and the results of the investigation and demonstration of the actual working environment of the TBM,the overall scheme design of the TBM autonomous navigation and positioning system based on the combination of SINS and OD was carried out.On the basis of the overall design,this paper analyzes the navigation principle based on strapdown inertial navigation and odometer combination,deduces the key mathematical formulae such as the comparative force equation,attitude update,speed update,analyzes the error equation of the system,and designs the Kalman filter to estimate and compensate the key errors of the system.Secondly,in view of the machine at work appear skid phenomenon,makes the odometer data can't reflect the real driving state,put forward a kind of sliding recognition which based on BP neural network learning and the compensation methods,and the corresponding theoretical analysis and formula derivation.Furthermore,according to the design requirements of integrated navigation system,the key sensor parts are selected and the corresponding signal acquisition circuit is designed.On this basis,the circuit of the whole system is designed,debugged and installed.Finally,a variety of experiments are designed to test the performance of the designed TBM autonomous navigation and positioning system.The test results show that the azimuth error of the designed integrated navigation system is about 0.0015° and the attitude error is better than 0.008° under the static environment of the laboratory and under the test of each azimuth and different attitude angles.In the test experiment of dynamic repeatability accuracy with a driving distance of about 8.6 m,the repeatability of eleven repetitions was 0.006 m(standard deviation).In the comprehensive positioning experiment for a long distance voyage with a length of about 472 m,the positioning error of the system is less than 0.2 m and the relative error is less than 0.04%D(D represents the distance traveled).In the real simulation experiment of the TBM,the comprehensive recognition rate of the skid mode is better than 98%,and the positioning accuracy after the skid compensation reaches 0.14%D.To sum up,the designed TBM autonomous navigation positioning system has good positioning accuracy,which can initially meet the positioning needs of TBM in coal mine roadway.