煤矿救灾机器人超声波和惯性导航技术
发布时间：2018-11-02 17:48
【摘要】：针对煤矿救灾机器人导航系统的导航精度低的问题,结合煤矿井下非结构化环境的特点,提出一种适于煤矿井下灾后环境的超声波导航和惯性传感器的导航方法,并利用粒子滤波技术进行算法设计。结果表明,基于超声波和惯性传感器融合的导航性能满足煤矿救灾机器人的导航需求,算法的收敛速度很快,提高了煤矿救灾机器人的导航性能和应急抢险能力。
[Abstract]:Aiming at the problem of low navigation accuracy of the navigation system of coal mine disaster relief robot and combining with the characteristics of unstructured environment in underground coal mine, a navigation method of ultrasonic navigation and inertial sensor is proposed, which is suitable for the post-disaster environment of coal mine. The particle filter technique is used to design the algorithm. The results show that the navigation performance based on the fusion of ultrasonic wave and inertial sensor can meet the navigation requirements of the coal mine disaster relief robot, and the convergence speed of the algorithm is fast, and the navigation performance and emergency rescue ability of the coal mine disaster relief robot are improved.
【作者单位】： 煤炭科学技术研究院有限公司;煤矿应急避险技术装备工程研究中心;北京市煤矿安全工程技术研究中心;
【分类号】：TD774
本文编号：2306508
[Abstract]:Aiming at the problem of low navigation accuracy of the navigation system of coal mine disaster relief robot and combining with the characteristics of unstructured environment in underground coal mine, a navigation method of ultrasonic navigation and inertial sensor is proposed, which is suitable for the post-disaster environment of coal mine. The particle filter technique is used to design the algorithm. The results show that the navigation performance based on the fusion of ultrasonic wave and inertial sensor can meet the navigation requirements of the coal mine disaster relief robot, and the convergence speed of the algorithm is fast, and the navigation performance and emergency rescue ability of the coal mine disaster relief robot are improved.
【作者单位】： 煤炭科学技术研究院有限公司;煤矿应急避险技术装备工程研究中心;北京市煤矿安全工程技术研究中心;
【分类号】：TD774
【相似文献】
相关博士学位论文 前1条
1 吴英飞;书法重现及其在数字化图书馆中的应用[D];浙江大学;2008年
，本文编号：2306508
本文链接：https://www.wllwen.com/kejilunwen/anquangongcheng/2306508.html
