Research On The Key Technology To Improve The Accuracy Of The Autonomous Navigation And Positioning System Of The Mine Roadheader

In recent years,with the continuous improvement of informatization and technological intelligence,human activities have become increasingly frequent,and the consumption and demand for mine resources have also shown an upward trend.The mining depth of coal mines has increased and the difficulty of mining has gradually increased.At the same time,the working environment of underground personnel is poor,and the space is small.Humidity,dust,and various possible occurrences of coal mine accidents such as gas explosions,water penetration and other news also bring extremely severe challenges to the life safety and mental health of coal mine workers.Therefore,the demand for unmanned mining roadheader systems is becoming more and more urgent,which is of great significance for improving energy productivity and maintaining the lives and health of personnel.However,the navigation and positioning of mining roadheads is restricted by the special environment of coal mine roadways.Traditional ground satellite positioning and other methods cannot be effectively implemented.Inertial navigation has the advantages of full autonomy and immunity from electromagnetic environment.Therefore,in recent years,it has been adopted by mine roadheaders as the main autonomous positioning system.However,inertial navigation will continue to accumulate errors over time,causing its autonomous navigation positioning and orientation accuracy to decrease over time.In response to this problem,the thesis carried out research on key technologies to improve the accuracy of the autonomous navigation and positioning system of mining roadheaders.The main research contents are as follows:Firstly,comprehensively considering the mining environment,the actual work requirements of the roadheader are analyzed,and two key technologies that need to be solved for the system to achieve high-precision positioning are proposed,drift estimation and sway alignment.Afterwards,based on the self-developed fiber optic gyroscope three-axis inertial navigation system,the overall design was developed for the needs of the XXX roadheader.I participated in the construction of the entire hardware platform.Based on the basic theory of strapdown inertial navigation,the definition of each coordinate system is given.The update algorithm of attitude,speed,position and the error equation are derived.Aiming at the first key technology,the drift estimation of the autonomous navigation and positioning system of the mining roadheader,according to the characteristics of its zigzag movement,the observability analysis of the movement state was carried out,and the zero deviation of the gyroscope and accelerometer was successfully estimated.The experimental results show that the drift estimation accuracy of the gyroscope and accelerometer and the drift estimation deviation percentage of the turntable are less than 16%,respectively.Aiming at the second key technology,the shaking alignment of the autonomous navigation and positioning system of the mining roadheader,a solidification system alignment method based on multi-vectors was designed,and under the requirement of60 s alignment time,the problem of selecting the number of vectors was explored.The precise alignment of the Kalman filter is also designed.The experimental results show that when the number of vectors is set to 100,the azimuth error can be within 0.15°without occupying too much computing resources.The research results of this thesis provide a practical and effective scheme for the alignment and drift estimation of the autonomous navigation and positioning system of mining roadheaders,which has good engineering and application value.