悬臂式掘进机导航技术现状及其发展方向

发布时间：2018-06-05 07:14

本文选题：悬臂式掘进机 + 导航定位　；参考：《工矿自动化》2017年08期

【摘要】：阐述了悬臂式掘进机导航定位问题,并分析了其特殊性,给出了其数学描述;详细分析了掘进机光电导航和位姿检测技术现状、掘进机惯性导航技术现状、基于多信息融合的掘进机导航定位技术现状,并进行了比较与评价。得出结论:光电导航装备技术成熟、精度高,但在煤矿井下应用存在较严重的环境适应性问题;惯性导航技术环境适应性强、姿态检测精度较高,但长时定位精度差;将光电导航技术和惯性导航技术相结合的多信息多传感器融合的导航技术可能是解决悬臂式掘进机空间位姿检测问题的较优途径,实现信息融合的关键在于解决多信息多传感器带来的测量基准统一问题,且需要鲁棒性更强的融合算法。
[Abstract]:This paper expounds the navigation and positioning problem of the cantilever tunneling machine, analyzes its particularity and gives its mathematical description, analyzes in detail the present situation of the photoelectric navigation and pose detection technology of the roadheader, and the present situation of the inertial navigation technology of the roadheader. The status quo of roadheader navigation and positioning technology based on multi-information fusion is compared and evaluated. The conclusions are as follows: the photoelectric navigation equipment has mature technology and high precision, but there are serious environmental adaptability problems in underground coal mine application, inertial navigation technology has strong environmental adaptability, high attitude detection accuracy, but poor positioning accuracy for long time. The combination of photoelectric navigation technology and inertial navigation technology with multi-information and multi-sensor fusion may be the best way to solve the problem of spatial pose detection of cantilever roadheader. The key to realize information fusion is to solve the problem of unified measurement datum brought by multi-information and multi-sensor, and more robust fusion algorithm is needed.
【作者单位】：中国煤炭科工集团太原研究院有限公司;山西天地煤机装备有限公司;
【基金】：中国煤炭科工集团有限公司科技项目(2016MS016)
【分类号】：TD632.2

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