AU2018421458B2 - Initial alignment system and method for strap-down inertial navigation of shearer based on optical flow method - Google Patents

Initial alignment system and method for strap-down inertial navigation of shearer based on optical flow method Download PDF

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Publication number
AU2018421458B2
AU2018421458B2 AU2018421458A AU2018421458A AU2018421458B2 AU 2018421458 B2 AU2018421458 B2 AU 2018421458B2 AU 2018421458 A AU2018421458 A AU 2018421458A AU 2018421458 A AU2018421458 A AU 2018421458A AU 2018421458 B2 AU2018421458 B2 AU 2018421458B2
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Prior art keywords
shearer
strap
inertial navigation
down inertial
optical flow
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AU2018421458A1 (en
Inventor
Yuming Chen
Mengbao FAN
Jinyong JU
Wei Li
En LU
Lianchao SHENG
Chao Wang
Yuqiao Wang
Ting XIA
Xuefeng Yang
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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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
    • 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
    • G01C21/165—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 combined with non-inertial navigation instruments
AU2018421458A 2018-05-30 2018-11-16 Initial alignment system and method for strap-down inertial navigation of shearer based on optical flow method Active AU2018421458B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201810540173.0A CN108592951B (zh) 2018-05-30 2018-05-30 一种基于光流法的采煤机捷联惯导初始对准系统及方法
CN201810540173.0 2018-05-30
PCT/CN2018/115777 WO2019227865A1 (zh) 2018-05-30 2018-11-16 一种基于光流法的采煤机捷联惯导初始对准系统及方法

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AU2018421458A1 AU2018421458A1 (en) 2019-12-19
AU2018421458B2 true AU2018421458B2 (en) 2021-05-13

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AU2018421458A Active AU2018421458B2 (en) 2018-05-30 2018-11-16 Initial alignment system and method for strap-down inertial navigation of shearer based on optical flow method

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CN (1) CN108592951B (zh)
AU (1) AU2018421458B2 (zh)
CA (1) CA3071299C (zh)
RU (1) RU2734387C1 (zh)
WO (1) WO2019227865A1 (zh)

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CN108592951B (zh) * 2018-05-30 2019-08-02 中国矿业大学 一种基于光流法的采煤机捷联惯导初始对准系统及方法
CN109839109B (zh) * 2019-02-25 2020-11-24 中国矿业大学 基于图像识别和多传感器融合的掘进机绝对位姿检测方法
GB2599380A (en) 2020-09-30 2022-04-06 Roadmetric Ltd Measuring vehicle speeds with an uncalibrated camera
CN112731930A (zh) * 2020-12-23 2021-04-30 重庆华渝电气集团有限公司 一种基于惯性导航装置的悬臂式掘进机控制系统
CN112901273A (zh) * 2021-01-27 2021-06-04 中煤科工开采研究院有限公司 一种基于编码图形识别的综采工作面采煤机定位方法及系统
CN113804913B (zh) * 2021-10-13 2022-11-29 东南大学 一种利用单个光流传感器获取球形电机旋转速度的方法
CN116295511B (zh) * 2022-12-16 2024-04-02 南京安透可智能系统有限公司 一种用于管道潜航机器人的鲁棒初始对准方法及系统
CN116358606B (zh) * 2023-05-31 2023-08-29 中国船舶集团有限公司第七〇七研究所 惯导系统的初始粗对准方法、装置、设备及介质

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CN102829779A (zh) * 2012-09-14 2012-12-19 北京航空航天大学 一种飞行器多个光流传感器与惯导组合导航方法
CN105371871A (zh) * 2015-12-02 2016-03-02 中国矿业大学 井下采煤机捷联惯导系统的组合初始对准系统及对准方法

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ATE261108T1 (de) * 1998-04-24 2004-03-15 Inco Ltd Automatisch geführtes fahrzeug
US8866618B2 (en) * 2010-07-03 2014-10-21 Raytheon Company Mine personnel carrier integrated information display
RU2591738C1 (ru) * 2015-05-19 2016-07-20 Акционерное общество "Московский институт электромеханики и автоматики" (АО "МИЭА") Способ повышения точности начальной выставки бесплатформенной инерциальной системы
CN104964688B (zh) * 2015-05-28 2017-12-26 中国矿业大学 基于捷联惯性导航的采煤机防爆定位装置及其校准方法
CN105300410B (zh) * 2015-12-01 2018-01-12 中国矿业大学 采煤机惯性导航定位误差校准装置及方法
CN106708066B (zh) * 2015-12-20 2019-07-26 中国电子科技集团公司第二十研究所 基于视觉/惯导的无人机自主着陆方法
CN108592951B (zh) * 2018-05-30 2019-08-02 中国矿业大学 一种基于光流法的采煤机捷联惯导初始对准系统及方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102829779A (zh) * 2012-09-14 2012-12-19 北京航空航天大学 一种飞行器多个光流传感器与惯导组合导航方法
CN105371871A (zh) * 2015-12-02 2016-03-02 中国矿业大学 井下采煤机捷联惯导系统的组合初始对准系统及对准方法

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Publication number Publication date
RU2734387C1 (ru) 2020-10-15
WO2019227865A1 (zh) 2019-12-05
AU2018421458A1 (en) 2019-12-19
CN108592951B (zh) 2019-08-02
CN108592951A (zh) 2018-09-28
CA3071299A1 (en) 2019-12-05
CA3071299C (en) 2022-08-30

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