AU2016365012A1 - Combined initial alignment system and alignment method for strapdown inertial navigation system of underground coal mining machine - Google Patents
Combined initial alignment system and alignment method for strapdown inertial navigation system of underground coal mining machine Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/08—Guiding the machine
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
A combined initial alignment system and alignment method for a strapdown inertial navigation system of an underground coal mining machine. The system comprises a strapdown inertial navigation system (4) installed on a coal mining machine (1), a wireless sensor network mobile node (5), an inclination sensor (3), a geomagnetic field sensor (2) and anchor nodes (8) installed on a hydraulic support (7). After the coarse alignment of the strapdown inertial navigation (4) is performed, the wireless sensor network is used to detect location information about the coal mining machine (1), the inclination sensor (3) measures a roll and a pitch angle, and the geomagnetic field sensor (2) measures a yaw angle. A pose measurement equation of the coal mining machine (1) is constructed, and is combined with an error model after the coarse alignment of the strapdown inertial navigation (4) is performed, so as to establish a state equation; fusion filtering is carried out to obtain accurate location and pose information about the coal mining machine (1); and the precise alignment of the strapdown inertial navigation system (4) is conducted to complete initial alignment. The precise initial alignment of a strapdown inertial navigation combination under a severe enclosed environment in a coal mine is realized, and the precision of combination positioning under a large misalignment angle of a strapdown inertial navigation system of a coal mining machine is greatly improved.
Description
COMBINED INITIAL ALIGNMENT SYSTEM AND ALIGNMENT METHOD FOR STRAPDOWN INERTIAL NAVIGATION SYSTEM OF UNDERGROUND COAL MINING
MACHINE
Field of the Invention
The present invention relates to initial alignment system and alignment method for positioning and navigation of a downhole coal cutter, in particular to a combined initial alignment system and an alignment method for a strapdown inertial navigation system (SINS) of a downhole coal cutter.
Background of the Invention
Coal is important basic energy resource and raw material in China, and a coal-dominated energy structure will remain in a long time in the further in China. As the national economy is developed, the demand for coal is increasingly higher, and related safety accidents in coal mines become more and more. Safe and efficient coal resource exploitation and utilization techniques have become a research hotspot in China and foreign countries. One of the most effective solutions is to realize mechanized and automated coal mine production equipment, so as to realize mining at downhole fully-mechanized mining faces without worker or with fewer workers. In that solution, information sensing techniques for the coal mining equipment is the key technology for automation of the coal mining equipment.
To realize coal cutter position and attitude detection, some researchers have put forward an inertial navigation-based positioning method for coal cutters. A strapdown inertial navigation system (SINS) is a navigation system in which gyro and accelerometer are directly fixed on a carrier, the tri-axial angular velocity and tri-axial acceleration information of the moving carrier is measured in real time with inertial sensors (gyro and accelerometer, etc.), and the navigation information of the moving carrier, including attitude, velocity and position, etc., is obtained through high-speed integral, in conjunction with initial inertial information of the moving carrier. The SINS does not rely on external information, does not radiate energy to the external environment, and is resistant to interferences and damages. Therefore, the SINS is an autonomous navigation system and has advantages such as high data updating rate, comprehensive data, and high transient positioning accuracy, etc..
However, the SINS employs an incremental solution process, in which the position increment and attitude angle increment of the moving carrier are obtained through integral computation of acceleration and angular velocity in each cycle, so as to update position and attitude in the SINS. Therefore, initial values of positioning parameters in the SINS at the initial positioning moment can be measured accurately, which will determine the accuracy in the follow-up positioning process. In addition, the positioning accuracy of the SINS will be degraded severely after long-time operation owing to accumulative errors. Hence, it is desirable to seek for an external positioning method to make correction to the positioning result of the SINS. A wireless sensor network serving as a positioning system, which incorporates distributed feature, intelligent feature, and network feature, exhibits a great potential in the short-range positioning field. Presently, in coal mine roadways, the staff positioning technique based on a wireless sensor network has become an important part of safe mining technology for coal mines. Hence, a wireless 1 sensor network can be utilized to measure three-dimensional position data of a coal cutter, so as to provide position information for initial alignment of a SINS. In view that a wireless sensor network cannot provide attitude information of the moving carrier and the initial attitude matrix of a SINS has direct influence on velocity and position calculation with acceleration, external inclination sensor and geomagnetic sensor have to be utilized to measure roll angle, pitch angle, and yaw angle of a coal cutter respectively for the SINS, and thereby obtain initial attitude information of the coal cutter. Thus, a combined positioning system can be established, initial positioning parameters of the SINS can be solved with an initial alignment algorithm for moving base, and thereby combined initial alignment of the SINS can be accomplished.
Summary of the Invention
The present invention is to provide a combined initial alignment system and an alignment method for a SINS of a downhole coal cutter, so as to solve a problem of accurate initial alignment of the moving base of the downhole coal cutter in a case that conventional GPS positioning method cannot be utilized for initial alignment of the strapdown inertial navigation positioning system of the coal cutter.
The present invention is attained as follows: the combined initial alignment system comprises: a coal cutter 1, a geomagnetic sensor 2, an inclination sensor 3, a SINS 4, a mobile node of wireless sensor network 5, a scraper conveyer 6, a hydraulic support 7, and an anchor node of wireless sensor network 8; wherein, the geomagnetic sensor 2, inclination sensor 3, SINS 4, and mobile node of wireless sensor network 5 are connected to the coal cutter 1, the coal cutter 1 rides on a scraper conveyer 6 and moves in a reciprocating manner to cut coal; the anchor node of wireless sensor network 8 is connected to the hydraulic support 7; the anchor node of wireless sensor network is connected through a shielded network cable, and transmits wireless data via a switch to a positioning computer; the SINS, inclination sensor, and geomagnetic sensor transmit positioning data via a wireless data transmitter module to the remote positioning computer.
In the combined initial alignment method, after coarse alignment of the SINS is completed, the position information of the coal cutter is measured with the wireless sensor network, roll and pitch angles are measured with the inclination sensor, a yaw angle is measured with the geomagnetic sensor, a position and attitude measurement equation of the coal cutter is constructed with a time synchronization method, a state equation is constructed on the basis of an error model after the coarse alignment of the SINS, fused fdtering is carried out to obtain accurate position and attitude information of the coal cutter, and fine alignment of the SINS is carried out, so as to accomplish initial alignment; specifically, the alignment method includes the following steps: 1) A tri-axial accelerometer and a tri-axial gyro in the SINS measure tri-axial acceleration and tri-axial angular velocity information of the coal cutter when the coal cutter is in a stationary state, the acquired data is processed after some time, gravitational acceleration characteristic and angular rate characteristic of rotation of the earth are utilized to establish an initial attitude transformation matrix of the SINS when the coal cutter in a stationary state, the data obtained in the measurement is utilized to carry out coarse alignment of the SINS, and thereby obtain an error propagation model after the coarse alignment of the SINS; 2) The anchor node of wireless sensor network receives wireless signals transmitted from the mobile node in real time, and obtains position information of the coal cutter by means of 2 measurement with the wireless sensor network with a position calculation model of the wireless sensor network on the basis of the measurement of wireless signals of the mobile node from the anchor nodes; 3) The inclination sensor is fixedly mounted on the coal cutter body and measures inclination information of the coal cutter body in relation to the horizontal plane in real time, and converts the inclination information to pitch angle and roll angle of the coal cutter according to mounting position parameters of the inclination sensor on the coal cutter body; the geomagnetic sensor fixedly mounted on the coal cutter body measures geomagnetic field information at the position of the coal cutter body in real time, and obtains three-dimensional attitude information of the coal cutter body, including pitch angle, roll angle and yaw angle, by measuring the direction of the geomagnetic field and calculating the yaw angle of the coal cutter on the basis of a geomagnetic pole theory, so as to determine an initial attitude of the SINS; 4) A state equation is established on the basis of position and attitude errors by utilizing an error propagation model after the coarse alignment of the SINS, and a combined observation equation of position and attitude of the coal cutter body is established according to the initial position determined with the wireless sensor network and the initial attitude determined with the inclination sensor and the geomagnetic sensor jointly; a state space model of the combined positioning system of the coal cutter is constructed from the state equation and the combined observation equation of the positioning system; 5) A multi-dimensional federated Kalman filtering model for multiple sensors is constructed according to the characteristics of the state equation and the combined observation equation of the combined positioning system, in consideration that the observation equation involves three different sensors; accurate initial position and initial attitude information of the coal cutter in the combined positioning system is obtained by combined filtering of the state space model, an accurate position and attitude error equation of the SINS is established, and fine alignment of the SINS is carried out, to accomplish accurate calibration of initial position and attitude information of the SINS and provide an initial assurance for a subsequent real-time positioning process, and thereby improve positioning accuracy of the coal cutter;
In the time synchronization method, in view that the combined positioning system is combined from separate sensor systems that are independent from each other and each sensor transmits data to the positioning computer separately, the sensors transmit the acquired data to the positioning computer at different times; therefore, multi-source data synchronization and acquisition time registration are required in the multi-sensor environment, so that the observed quantities can reflect the measurement state at current time when an observation equation is established for the multi-sensor measurement environment, so as to reduce observational errors resulted from time asynchronism; specifically, the time synchronization method includes the following steps: 1) In the coarse alignment process, the SINS acquires acceleration and angular velocity information in real time when the coal cutter is in a stationary state, transmits a data sampling clock signal 7o of the SINS to data acquisition modules of the wireless sensor network, inclination sensor, and geomagnetic sensor during data acquisition, the data acquisition modules receive the sampling clock signal from the SINS and carry out relative clock counting for wireless sensor network data, inclination data, and geomagnetic field data acquired by the data acquisition modules, and obtain synchronous acquisition times Tj, T2 and T3 respectively 3 when the wireless sensor network positioning data, inclination sensor data, and geomagnetic field data are received; 2) The positioning data acquisition module of the wireless sensor network carries out sampling after time synchronization to obtain positioning data at the time Tj, and judges whether the positioning data is valid; continues the positioning data acquisition if the acquired positioning data is invalid; otherwise transmits a measurement synchronization triggering signal at time T/ to the inclination acquisition module and the geomagnetic acquisition module, and receives and latches wireless measurement data, if the acquired positioning data is valid; 3) The inclination data acquisition module compares the Tj synchronization signal transmitted from the acquisition module of the wireless sensor network with the inclination sensor data sampling time T2 of the inclination data acquisition module; judges that the inclination measurement data received at the time T2 is synchronous with the wireless data at the time Tj and receives and latches inclination measurement data, if the time difference between the time Ti and the time T2 is smaller than an allowable time threshold ε; otherwise carries out sampling and selection of inclination sensor sampling data again; 4) The geomagnetic data acquisition module compares the Ti synchronization signal transmitted from the acquisition module of the wireless sensor network with the geomagnetic sensor data sampling time T2 of the geomagnetic data acquisition module; judges that the geomagnetic measurement data received at the time T2 is synchronous with the wireless data at the time Ti and receives and latches geomagnetic measurement data, if the time difference between the time Tj and the time Tj is smaller than the allowable time threshold ε; otherwise carries out sampling and selection of geomagnetic sensor sampling data again; 5) A combined SINS fine alignment model is established according to the wireless sensor network positioning data, inclination sensor data, and geomagnetic sensor data after time synchronization in conjunction with the sampled data of the SINS, and finally initial alignment of combined SINS is accomplished on the basis of time synchronization.
Beneficial effects: With the above-mentioned technical scheme, in a harsh downhole environment in a coal mine, where it is difficult to accomplish initial alignment of a strapdown inertial navigation positioning system of a coal cutter, an initial alignment system for a moving base of SINS can be implemented on the basis of a combined positioning system utilizing external sensors, including wireless sensor network, inclination sensor, and geomagnetic sensor, to accomplish combined accurate initial alignment of the SINS independent of GPS in the downhole environment of the coal mine, so as to greatly improve combined positioning accuracy of the coal cutter with the SINS at a large misalignment angle and provide accurate position and attitude information in the coal cutter positioning process. Thus, the problem of accurate initial alignment of the moving base in a case that the conventional GPS positioning cannot be utilized for initial alignment of the strapdown inertial navigation positioning system of a coal cutter is solved, and the object of the present invention is attained.
The present invention has the following advantages: 1) The present invention provides a combined initial alignment system for SINS of a downhole coal cutter in a coal mine, which utilizes a mobile node of wireless sensor network, an inclination sensor, and a geomagnetic sensor mounted on the coal cutter body to construct a 4 combined positioning system to carry out fine alignment of the SINS after coarse alignment of the SINS, so as to solve the problem of initial alignment of a SINS in the enclosed environment in a coal mine where it is difficult to rely on an external positioning system; 2) The present invention puts forward a state space model in which a combined observation equation is established with positioning data of the wireless sensor network and measurement data of the inclination sensor and geomagnetic sensor and a state equation is established on the basis of an error model after the coarse alignment of the SINS, and puts forward a multi-dimensional federated Kalman filter for fused filtering of the state space model, so as to improve accuracy of the positioning system; 3) To solve the problem of time asynchronism resulted from separate data observed quantities in a multi-sensor environment, the present invention puts forward a multi-sensor time synchronization solution based on sampling frequency of the SINS, with which time synchronization of measurement data among the sensors is accomplished by receiving the time of positioning data of the wireless sensor network and selecting synchronous data from the inclination sensor and geomagnetic sensor, and thereby the accuracy of the combined positioning system is improved.
Brief Description of the Drawings
Fig. 1 is a schematic structural diagram of the apparatus of the combined initial alignment system for SINS of a downhole coal cutter according to the present invention;
Fig. 2 is a structured flow chart of program operation for combined initial alignment method for SINS of a downhole coal cutter according to the present invention;
Fig. 3 is a flow chart of execution of the time synchronization scheme of the combined positioning system in the combined initial alignment system according to the present invention.
Among the figures: 1 - coal cutter; 2 - geomagnetic sensor; 3 - inclination sensor; 4 - SINS; 5 -mobile node of wireless sensor network; 6 - scraper conveyer; 7 - hydraulic support; 8 - anchor node of wireless sensor network; TO - data sampling time of the SINS; T1 - positioning data sampling time of the wireless sensor network; T2 - data sampling time of the inclination sensor; T3 - data sampling time of the geomagnetic sensor, ε - allowable time interval threshold between two sensor data sampling time in the synchronization method.
Detailed Description of the Drawings
The present invention provides a combined initial alignment system and an alignment method for a strapdown inertial navigation system (SINS) of a downhole coal cutter . The combined initial alignment system comprises: a coal cutter 1, a geomagnetic sensor 2, an inclination sensor 3, a SINS 4, a mobile node of wireless sensor network 5, a scraper conveyer 6, a hydraulic support 7, and an anchor node of wireless sensor network 8, wherein, the geomagnetic sensor 2, inclination sensor 3, SINS 4, and mobile node of wireless sensor network 5 are connected to the coal cutter 1, the coal cutter 1 rides on a scraper conveyer 6 and moves in a reciprocating manner to cut coal; the anchor node of wireless sensor network 8 is connected to the hydraulic support 7; the anchor node of wireless sensor network is connected through a shielded network cable, and transmits wireless data via a switch to a positioning computer; the SINS, inclination sensor, and geomagnetic sensor transmit positioning data via a wireless data transmitter module to the remote positioning computer. 5
In the combined initial alignment method, after coarse alignment of the SINS is completed, the position information of the coal cutter is measured with the wireless sensor network, roll and pitch angles are measured with the inclination sensor, a yaw angle is measured with the geomagnetic sensor, a position and attitude measurement equation of the coal cutter is constructed with a time synchronization method, a state equation is constructed on the basis of an error model after the coarse alignment of the SINS, fused fdtering is carried out to obtain accurate position and attitude information of the coal cutter, and fine alignment of the SINS is carried out, so as to accomplish initial alignment; specifically, the alignment method includes the following steps: 1) A tri-axial accelerometer and a tri-axial gyro in the SINS measure tri-axial acceleration and tri-axial angular velocity information of the coal cutter when the coal cutter is in a stationary state, the acquired data is processed after some time, gravitational acceleration characteristic and angular rate characteristic of rotation of the earth are utilized to establish an initial attitude transformation matrix of the SINS when the coal cutter in a stationary state, the data obtained in the measurement is utilized to carry out coarse alignment of the SINS, and thereby obtain an error propagation model after the coarse alignment of the SINS; 2) The anchor node of wireless sensor network receives wireless signals transmitted from the mobile node in real time, and obtains position information of the coal cutter by means of measurement with the wireless sensor network with a position calculation model of the wireless sensor network on the basis of the measurement of wireless signals of the mobile node from the anchor nodes; 3) The inclination sensor is fixedly mounted on the coal cutter body and measures inclination information of the coal cutter body in relation to the horizontal plane in real time, and converts the inclination information to pitch angle and roll angle of the coal cutter according to mounting position parameters of the inclination sensor on the coal cutter body; the geomagnetic sensor fixedly mounted on the coal cutter body measures geomagnetic field information at the position of the coal cutter body in real time, and obtains three-dimensional attitude information of the coal cutter body, including pitch angle, roll angle and yaw angle, by measuring the direction of the geomagnetic field and calculating the yaw angle of the coal cutter on the basis of a geomagnetic pole theory, so as to determine an initial attitude of the SINS; 4) A state equation is established on the basis of position and attitude errors by utilizing an error propagation model after the coarse alignment of the SINS, and a combined observation equation of position and attitude of the coal cutter body is established according to the initial position determined with the wireless sensor network and the initial attitude determined with the inclination sensor and the geomagnetic sensor jointly; a state space model of the combined positioning system of the coal cutter is constructed from the state equation and the combined observation equation of the positioning system; 5) A multi-dimensional federated Kalman filtering model for multiple sensors is constructed according to the characteristics of the state equation and the combined observation equation of the combined positioning system, in consideration that the observation equation involves three different sensors; accurate initial position and initial attitude information of the coal cutter in the combined positioning system is obtained by combined filtering of the state space model, an accurate position and attitude error equation of the SINS is established, and fine alignment of the SINS is carried out, to accomplish accurate calibration of initial position and attitude 6 information of the SINS and provide an initial assurance for a subsequent real-time positioning process, and thereby improve positioning accuracy of the coal cutter.
In the time synchronization method, in view that the combined positioning system is combined from separate sensor systems that are independent from each other and each sensor transmits data to the positioning computer separately, the sensors transmit the acquired data to the positioning computer at different times; therefore, multi-source data synchronization and acquisition time registration are required in the multi-sensor environment, so that the observed quantities can reflect the measurement state at current time when an observation equation is established for the multi-sensor measurement environment, so as to reduce observational errors resulted from time asynchronism; specifically, the time synchronization method includes the following steps: 1) In the coarse alignment process, the SINS acquires acceleration and angular velocity information in real time when the coal cutter is in a stationary state, transmits a data sampling clock signal Zb of the SINS to data acquisition modules of the wireless sensor network, inclination sensor, and geomagnetic sensor during data acquisition, the data acquisition modules receive the sampling clock signal from the SINS and carry out relative clock counting for wireless sensor network data, inclination data, and geomagnetic field data acquired by the data acquisition modules, and obtain synchronous acquisition times Tj, T2 and T3 respectively when the wireless sensor network positioning data, inclination sensor data, and geomagnetic field data are received; 2) The positioning data acquisition module of the wireless sensor network carries out sampling after time synchronization to obtain positioning data at the time Tj, and judges whether the positioning data is valid; continues the positioning data acquisition if the acquired positioning data is invalid; otherwise transmits a measurement synchronization triggering signal at time T3 to the inclination acquisition module and the geomagnetic acquisition module, and receives and latches wireless measurement data, if the acquired positioning data is valid; 3) The inclination data acquisition module compares the Ti synchronization signal transmitted from the acquisition module of the wireless sensor network with the inclination sensor data sampling time T2 of the inclination data acquisition module; judges that the inclination measurement data received at the time T2 is synchronous with the wireless data at the time T/ and receives and latches inclination measurement data, if the time difference between the time Ti and the time T2 is smaller than an allowable time threshold ε; otherwise carries out sampling and selection of inclination sensor sampling data again; 4) The geomagnetic data acquisition module compares the Tj synchronization signal transmitted from the acquisition module of the wireless sensor network with the geomagnetic sensor data sampling time T3 of the geomagnetic data acquisition module; judges that the geomagnetic measurement data received at the time T3 is synchronous with the wireless data at the time T/ and receives and latches geomagnetic measurement data, if the time difference between the time T2 and the time T3 is smaller than the allowable time threshold ε; otherwise carries out sampling and selection of geomagnetic sensor sampling data again; 5) A combined SINS fine alignment model is established according to the wireless sensor network positioning data, inclination sensor data, and geomagnetic sensor data after time synchronization in conjunction with the sampled data of the SINS, and finally initial alignment 7 of combined SINS is accomplished on the basis of time synchronization.
Hereunder the present invention will be further detailed, with reference to the accompanying drawings.
Embodiment 1: As shown in Fig. 1, the present invention puts forward a combined initial alignment system for SINS of a downhole coal cutter, mainly comprising a SINS (4), a mobile node of wireless sensor network (5), an inclination sensor (3), and a geomagnetic sensor (2), which are fixedly mounted on the body of a coal cutter (1), and an anchor node of wireless sensor network (8) mounted on a hydraulic support (7), wherein, the coal cutter rides on the scraper conveyer (6) and moves in a reciprocating manner to cut coal; the anchor node of wireless sensor network (8) is connected through a shielded network cable, is powered via a switch, and transmits wireless positioning data via the switch to a positioning computer; the SINS (4), inclination sensor (3), and geomagnetic sensor (2) transmit positioning data via a wireless data transmitter module to the remote positioning computer. The positioning computer receives positioning data from the wireless sensor network in real time, receives real-time measurement data from the SINS, inclination sensor, and geomagnetic sensor via the wireless data transmitter module.
The SINS measures acceleration and angular velocity information of the coal cutter body in real time via the tri-axial accelerometer and tri-axial gyro in it, and transmits the data via a wireless data transmission system to the positioning computer for position and attitude calculation; the wireless sensor network receives wireless positioning signals from the mobile node via the anchor node mounted on the hydraulic support in real time for ranging, and obtains three-dimensional position information of the coal cutter body with a wireless positioning calculation model; the geomagnetic sensor calculates the yaw angle of the coal cutter body according to the geomagnetic signal measured at the position of the coal cutter body and a geomagnetic field model.
As shown in Fig. 2, the combined initial alignment method for SINS of a downhole coal cutter includes the following steps:
Step 1. a tri-axial accelerometer and a tri-axial gyro in the SINS (4) measure tri-axial acceleration and tri-axial angular velocity information of the coal cutter when the coal cutter (1) is in a stationary state, after 30s, the positioning computer processes the acquired acceleration and angular velocity data, and utilizes the characteristics of gravitational acceleration (e.g., fixed direction and fixed value, etc.) and the characteristics of the influence of the angular rate of rotation of the earth on the navigation measurement result of the SINS to establish an initial attitude transformation matrix for the SINS as follows when the coal cutter is in the stationary state: rn — Lb(o) - -cos#0siny0- sin#0 cos#0cosy0 . sin<p0sin#0siny0 + cos<p0cosy0 —sin<p0cos#0 . cos<p0siny0 + sin<p0sin#0cosy0 cos<p0sin#0siny0 + sin<p0cosy0 cos<p0cos#0 sin<p0sin#0 - cos<p0sin#0cosy0 wherein, φ0, y0, #0 are yaw angle, roll angle and pitch angle after coarse alignment of the SINS respectively.
Then, coarse alignment of the SINS is carried out utilizing the data obtained in the measurement, and an error propagation model after the coarse alignment of the SINS is obtained. 8 wherein, Φ1 is an error angle matrix.
Step 2. the anchor node of wireless sensor network (8) receives wireless signals transmitted from the mobile node (5) in real time, and obtains three-dimensional position information of the coal cutter expressed by the following position vector by means of measurement with the wireless sensor network with a TDOA/AOA position calculation model of the wireless sensor network on the basis of the measurement of wireless signals of the mobile node from the anchor nodes:
^wsn [X wsn ywsn ^wsn]
Step 3. the inclination sensor (3) is fixedly mounted on the coal cutter body and measures inclination information of the coal cutter body in relation to the horizontal plane in real time, and converts the inclination information to pitch angle and roll angle of the coal cutter according to mounting position parameters of the inclination sensor on the coal cutter body, wherein, the inclination transformation matrix is: cosyd 0 -sinyd- 1 0 o 0 1 0 0 COS0d sin0d -sinyd 0 cosyd . .0 -sin 9d cos6d. wherein, γά and are measurements from the inclination sensor.
The geomagnetic sensor (2) fixedly mounted on the coal cutter body measures the geomagnetic field information at the position of the coal cutter body in real time, calculates the yaw angle of the coal cutter by measuring the direction of the geomagnetic field on the basis of a geomagnetic pole theory, wherein, the yaw angle transformation matrix is: cos ψπι sin<pm 0' r = ^ mag —sin<pm cos <pm 0 0 0 1. wherein, <pm is the yaw angle of coal cutter calculated by the geomagnetic sensor.
Thus, three-dimensional attitude observation information of the coal cutter body, including pitch angle, roll angle, and yaw angle, is obtained, and the initial attitude of the SINS is determined;
Step 4. a state equation is established on the basis of position and attitude errors utilizing an error propagation model after the coarse alignment of the SINS; in an east, north and up coordinate system, the state equation of dynamic error model is: x(t) = F(t)x(t) + w(t) wherein, t is system operation time, x(t) = [5PT SVnT δφΎ ετ FT] is state vector of the error equation of the SINS, δΡΎ is position error, SVnT is velocity error, δφΎ is attitude error, ετ and VT are zero bias of the gyro and zero bias of the accelerometer respectively, F(t) is state transformation matrix of the SINS, and w(C) is noise vector of the state equation. A combined observation equation of position and attitude of the coal cutter body is established as follows according to the initial position determined by the wireless sensor network and the initial attitude determined by the inclination sensor and the geomagnetic sensor jointly: z(t) = H(t)x(t) + v(t) 9 wherein, z(t) = [xwsn ywsn zwsn γα θά (pm\ , H(t) is propagation matrix of the observation equation, and v(t) is noise vector of observation. A state space model of the combined positioning system of the coal cutter is constructed from the state equation and the combined observation equation of the positioning system;
Step 5. a multi-dimensional federated Kalman filtering model for multiple sensors is constructed according to the characteristics of the state equation and the combined observation equation of the combined positioning system, in consideration that the observation equation involves three different sensors; the Kalman filtering model is as follows:
Initialize: *o|o — E[*o]
^*o|o = E [(xo|o — *o)(*o|o — *o) ] = Q
Predict: l\k-l %k\k-l — ^k^k-l\k-
Pk\k-i — AkPk-i\k-iATk + Qk
Correct:
Kk = P^k-iHUHbP^Hl + R^1 Xk\k ~ %k\k-l "h Kk(zk HkXk\k_t)
Pk\k — (,1 ~ KkHk)Pk\k-l
Accurate initial position and initial attitude information of the coal cutter in the combined positioning system is obtained by combined filtering of the state space model, an accurate position and attitude error equation of the SINS is established, and fine alignment of the SINS is carried out, to accomplish accurate calibration of initial position and attitude information and provide an initial assurance for a subsequent real-time positioning process, and thereby improve positioning accuracy of the coal cutter;
Fig. 3 shows a time synchronization method in the combined initial alignment method for SINS of a downhole coal cutter according to the present invention. In view that the combined positioning system is composed of four sensors that operate independently from each other and there is no electrical connection between the sensors, and the data is transmitted to the positioning computer separately from the sensors, the problem of time asynchronism in data transmission among the sensors has to be considered, and a time synchronization strategy against the time asynchronism should be established, to improve measurement accuracy of the combined positioning system. 10
In the coarse alignment process, the SINS acquires acceleration and angular velocity information in real time when the coal cutter is in a stationary state, transmits a data sampling clock signal To of the SINS to data acquisition modules of the wireless sensor network, inclination sensor, and geomagnetic sensor during data acquisition, the data acquisition modules receive the sampling clock signal from the SINS and carry out relative clock counting for wireless sensor network data, inclination data, and geomagnetic field data acquired by the data acquisition modules, and obtain synchronous acquisition times Tj, T2 and T3 respectively when the wireless sensor network positioning data, inclination sensor data, and geomagnetic field data are received;
The positioning data acquisition module of the wireless sensor network carries out sampling after time synchronization to obtain positioning data Pwsn(T 1) at the time T], and judges whether the positioning data is valid; continues the positioning data acquisition if the acquired positioning data is invalid; otherwise transmits a measurement synchronization triggering signal at time Tj to the inclination acquisition module and the geomagnetic acquisition module, and receives and latches wireless measurement data, if the acquired positioning data is valid;
The inclination data acquisition module compares the Tj synchronization signal transmitted from the acquisition module of the wireless sensor network with the inclination sensor data sampling time T2 of the inclination data acquisition module; judges that the inclination measurement data received at the time T2 is synchronous with the wireless data at the time Tj and receives and latches inclination measurement data φάίρ(Τ2), if the time difference between the time Tj and the time T2 is smaller than an allowable time threshold ε (i.e., Τ2 — Τ1<ε); otherwise carries out sampling and selection of inclination sensor sampling data again;
The geomagnetic data acquisition module compares the Ti synchronization signal transmitted from the acquisition module of the wireless sensor network with the geomagnetic sensor data sampling time T3 of the geomagnetic data acquisition module; judges that the geomagnetic measurement data received at the time T3 is synchronous with the wireless data at the time Tj and receives and latches geomagnetic measurement data <pmag(T3), if the time difference between the time Tj and the time T3 is smaller than the allowable time threshold ε (i.e., T2 — T1 < ε); otherwise carries out sampling and selection of geomagnetic sensor sampling data again; A combined SINS fine alignment model is established according to the wireless sensor network positioning data, inclination sensor data, and geomagnetic sensor data after time synchronization in conjunction with the sampled data of the SINS, and finally initial alignment of combined SINS is accomplished on the basis of time synchronization. 11
Claims (3)
- Claims 1 A combined initial alignment system for a strapdown inertial navigation system, SINS of a downhole coal cutter, characterized in, the combined initial alignment system comprises: a coal cutter 1, a geomagnetic sensor 2, an inclination sensor 3, a SINS 4, a mobile node of wireless sensor network 5, a scraper conveyer 6, a hydraulic support 7, and an anchor node of wireless sensor network 8; the geomagnetic sensor 2, inclination sensor 3, SINS 4, and mobile node of wireless sensor network 5 are connected to the coal cutter 1, the coal cutter 1 rides on a scraper conveyer 6 and moves in a reciprocating manner to cut coal; the anchor node of wireless sensor network 8 is connected to the hydraulic support 7; the anchor node of wireless sensor network is connected through a shielded network cable, and transmits wireless data via a switch to a positioning computer; the SINS, inclination sensor, and geomagnetic sensor transmit positioning data via a wireless data transmitter module to the remote positioning computer.
- 2 A combined initial alignment method of the combined initial alignment system for a SINS of a downhole coal cutter according to claim 1, characterized in: in the combined initial alignment method, after coarse alignment of the SINS is completed, the position information of the coal cutter is measured with the wireless sensor network, roll and pitch angles are measured with the inclination sensor, a yaw angle is measured with the geomagnetic sensor, a position and attitude measurement equation of the coal cutter is constructed with a time synchronization method, a state equation is constructed on the basis of an error model after the coarse alignment of the SINS, fused filtering is carried out to obtain accurate position and attitude information of the coal cutter, and fine alignment of the SINS is carried out, so as to accomplish initial alignment; specifically, the alignment method comprises the following steps: 1) Measuring tri-axial acceleration and tri-axial angular velocity information of the coal cutter via a tri-axial accelerometer and a tri-axial gyro in the SINS when the coal cutter is in a stationary state, processing the acquired data after some time, utilizing gravitational acceleration characteristic and angular rate characteristic of rotation of the earth to establish an initial attitude transformation matrix of the SINS when the coal cutter in a stationary state, utilizing the data obtained in the measurement to carry out coarse alignment of the SINS, and thereby obtain an error propagation model after the coarse alignment of the SINS; 2) Receiving wireless signals transmitted from the mobile node at the anchor node of wireless sensor network in real time, and obtaining position information of the coal cutter by means of measurement with the wireless sensor network with a position calculation model of the wireless sensor network on the basis of the measurement of wireless signals of the mobile node from the anchor nodes; 3) Measuring inclination information of the coal cutter body in relation to the horizontal plane in real time via the inclination sensor fixedly mounted on the coal cutter body, and converting the inclination information to pitch angle and roll angle of the coal cutter according to mounting position parameters of the inclination sensor on the coal cutter body; measuring geomagnetic field information at the position of the coal cutter body in real time with the geomagnetic sensor fixedly mounted on the coal cutter body, and obtaining three-dimensional attitude information of the coal cutter body, including pitch angle, roll angle and yaw angle, by measuring the direction of the geomagnetic field and calculating the yaw angle of the coal cutter on the basis of a geomagnetic pole theory, so as to determine an initial attitude of the SINS; 4) Establishing a state equation based on position and attitude errors by utilizing an error propagation model after the coarse alignment of the SINS, and establishing a combined observation equation of position and attitude of the coal cutter body according to the initial position determined with the wireless sensor network and the initial attitude determined with the inclination sensor and the geomagnetic sensor jointly; constructing a state space model of the combined positioning system of the coal cutter from the state equation and the combined observation equation of the positioning system; 5 J Constructing a multi-dimensional federated Kalman filtering model for multiple sensors according to the characteristics of the state equation and the combined observation equation of the combined positioning system, in consideration that the observation equation involves three different sensors; obtaining accurate initial position and initial attitude information of the coal cutter in the combined positioning system by combined filtering of the state space model, establishing an accurate position and attitude error equation of the SINS, and carrying out fine alignment of the SINS, to accomplish accurate calibration of initial position and attitude information of the SINS and provide an initial assurance for a subsequent real-time positioning process, and thereby improve positioning accuracy of the coal cutter.
- 3 The combined initial alignment method of the combined initial alignment system for a SINS of a downhole coal cutter according to claim 1, wherein, in the time synchronization method, in view that the combined positioning system is combined from separate sensor systems that are independent from each other and each sensor transmits data to the positioning computer separately, the sensors transmit the acquired data to the positioning computer at different times; therefore, multi-source data synchronization and acquisition time registration are required in the multi-sensor environment, so that the observed quantities can reflect the measurement state at current time when an observation equation is established for the multi-sensor measurement environment, so as to reduce observational errors resulted from time asynchronism; specifically, the time synchronization method includes the following steps: 1) In the coarse alignment process, acquiring acceleration and angular velocity information in real time with the SINS when the coal cutter is in a stationary state, transmitting a data sampling clock signal T0 of the SINS to data acquisition modules of the wireless sensor network, inclination sensor, and geomagnetic sensor during data acquisition, receiving the sampling clock signal from the SINS and carrying out relative clock counting in the data acquisition modules for wireless sensor network data, inclination data, and geomagnetic field data acquired by the data acquisition modules, and obtaining synchronous acquisition times Tj, T2 and 7j respectively when the wireless sensor network positioning data, inclination sensor data, and geomagnetic field data are received; 2J Sampling with the positioning data acquisition module of the wireless sensor network after time synchronization to obtain positioning data at the time 7j, and judging whether the positioning data is valid; continuing the positioning data acquisition if the acquired positioning data is invalid; otherwise transmitting a measurement synchronization triggering signal at time 7j to the inclination acquisition module and the geomagnetic acquisition module, and receiving and latching wireless measurement data, if the acquired positioning data is valid; 3) In the inclination data acquisition module, comparing the 7j synchronization signal transmitted from the acquisition module of the wireless sensor network with the inclination sensor data sampling time T2 of the inclination data acquisition module; judging that the inclination measurement data received at the time T2 is synchronous with the wireless data at the time 7j and receiving and latching inclination measurement data, if the time difference between the time 7j and the time T2 is smaller than an allowable time threshold ε; otherwise resampling inclination sensor sampling data again; 4J In the geomagnetic data acquisition module, comparing the T2 synchronization signal transmitted from the acquisition module of the wireless sensor network with the geomagnetic sensor data sampling time T2 of the geomagnetic data acquisition module; judging that the geomagnetic measurement data received at the time T2 is synchronous with the wireless data at the time 7j and receiving and latching geomagnetic measurement data, if the time difference between the time 7j and the time T2 is smaller than the allowable time threshold ε; otherwise resampling geomagnetic sensor sampling data again; 5 J Establishing a combined SINS fine alignment model according to the wireless sensor network positioning data, inclination sensor data, and geomagnetic sensor data after time synchronization in conjunction with the sampled data of the SINS, and finally accomplishing initial alignment of combined SINS based on time synchronization.
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| CN201510869993.0 | 2015-12-02 | ||
| CN201510869993.0A CN105371871B (en) | 2015-12-02 | 2015-12-02 | The combination Initial Alignment Systems and alignment methods of silo shearer SINS |
| PCT/CN2016/074618 WO2017092181A1 (en) | 2015-12-02 | 2016-02-26 | Combined initial alignment system and alignment method for strapdown inertial navigation system of underground coal mining machine |
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| AU2016365012A1 true AU2016365012A1 (en) | 2017-08-10 |
| AU2016365012B2 AU2016365012B2 (en) | 2018-05-17 |
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| CN110398257A (en) * | 2019-07-17 | 2019-11-01 | 哈尔滨工程大学 | The quick initial alignment on moving base method of SINS system of GPS auxiliary |
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| CN110398257A (en) * | 2019-07-17 | 2019-11-01 | 哈尔滨工程大学 | The quick initial alignment on moving base method of SINS system of GPS auxiliary |
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