面向掘进机的超宽带位姿检测系统精度分析

发布时间：2018-04-05 08:26

本文选题：悬臂式掘进机　切入点：狭长封闭巷道　出处：《仪器仪表学报》2017年08期

【摘要】：为实现悬臂式掘进机的无人化作业,提出了一种基于超宽带(UWB)测距技术的位姿检测方法;通过分析悬臂式掘进机工况环境及局域定位技术原理,设计了UWB位姿检测系统,该系统利用4个搭载UWB模块的移动基站机器人对机身节点进行测距,经过解算测距信息得到掘进机位姿参数;并开展了狭长封闭巷道中的UWB测距精度验证实验,仿真分析了基于直接解析法和基于Caffery算法的系统位姿精度。研究表明UWB模块在狭长封闭巷道中的测距精度可达2 cm,系统三轴定位精度在10~95 m的狭长封闭空间中从4 mm~3 cm呈线性增加,系统航向角、俯仰角、横滚角精度从0.2°~1.5°呈线性增加,满足悬臂式掘进机位姿检测精度要求,为掘进机自主巡航的实现提供了基础。
[Abstract]:To realize unmanned operation of roadheader, propose a method based on ultra wideband (UWB) pose detection methods ranging technology; through the analysis of roadheader working conditions and local positioning technology principle, design the detection system of UWB pose, 4 mobile base station equipped with UWB module robot range to the nodes using the fuselage the system, through the calculation of distance information by boring machine position parameters; and carried out experiments to verify the accuracy of UWB ranging narrow tunnel, simulation analysis based on direct analysis method and system of Caffery algorithm based on pose accuracy. The results indicate that the UWB module in the narrow tunnel in the ranging accuracy up to 2 cm, three axis system the positioning accuracy in 10~95 m narrow space from 4 mm~3 cm increased linearly, heading, pitch angle, roll angle accuracy from 0.2 DEG ~1.5 DEG linearly, meet the roadheader The accuracy requirement of position attitude detection provides a basis for the realization of the autonomous cruising of the roadheader.

【作者单位】：中国矿业大学(北京)机电与信息工程学院;
【基金】：国家重点基础研究发展计划(973计划)(2014CB046306)项目资助
【分类号】：TD421.5

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