Research On Positioning System Of Trackless Rubber Wheel Vehicle In Coal Mine Based On Multiple Encoders And SINS

Trackless rubber wheel vehicle is a typical auxiliary transportation equipment used in underground coal mine,which undertake the important transportation tasks of underground personnel,equipment,and other non-coal materials.Due to the narrow and multi branched underground tunnels,dim and humid conditions,and complex road conditions in coal mine,traditional subjective driving poses safety hazards such as traffic congestion and collisions,which affect the safe and efficient production of coal mine.Therefore,studying the real-time and precise positioning of underground trackless rubber wheel vehicle in coal mine can not only help managers supervise and scientifically dispatch trackless rubber wheel vehicle in real time,improve transportation efficiency,but also maximize the safety of auxiliary transportation links in coal mine.The main work of this thesis are as follows:Firstly,research on DR method based on multiple encoders and SINS is carried out.The basic principle of SINS is introduced,and the numerical update algorithm of SINS is derived.Based on the data of multiple encoders,the kinematics model of wheel odometer is established,and the DR algorithm based on multiple encoders is derived from the kinematics model.In response to the problem of divergence in positioning caused by the independent dependence of encoder data in the DR algorithm,a DR algorithm based on multiple encoders and SINS is formed by integrating the wheel odometer with the attitude data of SINS.This algorithm can effectively suppress the rapid accumulation of DR errors.On this basis,the extended Kalman filter algorithm is used to fuse the attitude data calculated based on the kinematics model of the wheel odometer and the attitude data calculated by SINS,and further improve the positioning accuracy of DR by improving the heading accuracy.Then,research on integrated positioning method based on SINS and DR is carried out.The error equations of SINS and DR are derived,and their error propagation laws are analyzed.An integrated positioning model of SINS and DR is established based on the extended Kalman filtering algorithm.An improved adaptive extended Kalman filtering algorithm is proposed to address the problem of decreased or even divergent filtering accuracy when modeling is inaccurate.By estimating and adjusting measurement noise in real-time,the accuracy and stability of the filtering system are improved.A fault-tolerant model is established to detect and isolate abnormal driving conditions such as slipping or sliding of trackless rubber wheel vehicle,which resulted in the failure of wheel odometers.A section positioning technology based on trackless rubber wheel vehicle transportation routes is proposed to address the problem of accumulated errors in the long-term and long-distance operation of integrated positioning model.The effectiveness of the integrated positioning method is verified by simulation and public data validation.Finally,the software and hardware development of the integrated positioning system based on ROS is carried out.The hardware platform design of the integrated positioning system is carried out,and the hardware selection and assembly are completed.The software platform design of the integrated positioning system is carried out based on ROS,achieving the reading,transmission,fusion,and positioning calculation of sensor data.The interface development of the human-machine interaction software for the positioning system is completed based on ROS Qt,and the visualization of positioning information is achieved.The mobile car experimental platform is built based on the designed software and hardware system.A UWB positioning system is built and use its positioning information as a reference truth value to conduct comprehensive sports car experiments using the mobile car experimental platform.The results indicate that the positioning system designed in this thesis can meet the positioning requirements of underground trackless rubber wheel vehicle in coal mine,proving the effectiveness of the method proposed in this thesis.This thesis contains 79 figures,9 tables,and 114 references.