CN105352504A - Inertial navigation-laser scanning integrated coal mining machine positioning device and method - Google Patents

Inertial navigation-laser scanning integrated coal mining machine positioning device and method Download PDF

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Publication number
CN105352504A
CN105352504A CN201510870392.1A CN201510870392A CN105352504A CN 105352504 A CN105352504 A CN 105352504A CN 201510870392 A CN201510870392 A CN 201510870392A CN 105352504 A CN105352504 A CN 105352504A
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coalcutter
laser scanning
inertial navigation
microprocessor
locating
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CN201510870392.1A
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Chinese (zh)
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CN105352504B (en
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刘万里
刘一鸣
张博渊
杨滨海
左雪
李雨潭
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中国矿业大学
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; 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
    • G01C21/16Navigation; 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
    • G01C21/165Navigation; 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
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21CMINING OR QUARRYING
    • E21C35/00Miscellaneous items relating to machines for slitting or completely freeing the mineral from the seam
    • E21C35/08Guiding the machine
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; 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
    • G01C21/16Navigation; 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
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; 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
    • G01C21/16Navigation; 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
    • G01C21/18Stabilised platforms, e.g. by gyroscope

Abstract

The invention discloses an inertial navigation-laser scanning integrated coal mining machine positioning device and method, and belongs to coal mining machine positioning devices and methods. The positioning device adopts the structure that a positioning device explosion-proof housing and a laser signal receiving module are fixed on the main body of a coal mining machine; an inertial navigation positioning device and a laser scanning microprocessor are mounted in an explosion-proof device; when the coal mining machine works, the inertial navigation positioning device acquires the real-time angular rate and the real-time through a sensor, and transmitting the data to the laser scanning microprocessor; in a laser scanning device, a laser scanning base station is arranged in the working area of the coal mining machine, a laser signal of the laser scanning base station is received by the laser signal receiving module, and meanwhile the data are transmitted to the laser scanning microprocessor; the laser scanning microprocessor is connected with an upper computer through a serial port. Respectively acquired positioning data are transmitted to a coal mining machine positioning control system for data processing, and the position of the coal mining machine is confirmed according to an algorithm integrating the least square method and the neural network algorithm, so as to realize precise positioning; the positioning device and method have the advantages of being precise in positioning, safe and reliable.

Description

The coalcutter locating device that a kind of inertial navigation and laser scanning are merged and method

Technical field

The present invention relates to the device and method, particularly a kind of inertial navigation of a kind of coalcutter location and the coalcutter locating device that merges of laser scanning and method.

Background technology

Location technology, refers to and takes certain means to measure to target, and then obtains the technology of target position information.Along with the continuous progress of modern technologies, in productive life, the status of location is also more and more higher.In many positioning field, the location of various kinds of equipment under mine is just slowly stepped into the visual field of people.Due to the outstanding problems such as security incident takes place frequently, disaster is serious under mine in recent years, therefore seem particularly important to the location of ore deposit underground equipment, this is also the precondition realizing automated production and safety in production simultaneously.In the recovery process of coal resources, coalcutter is one of important equipment of borehole operation, therefore, just seems particularly important to the location, position of coalcutter.But due to the specific condition under mine, the complicacy of its environment makes a lot of positioning means usually adopted not reach the requirement of positioning precision under mine, even cannot realize the determination to coal winning machine position under mine.Under this background, the development of the technology such as inertial navigation location, laser scanning location, makes to become possibility to the accurate location of coal winning machine position.

In the classical calibration fashion of coalcutter, often can not realize accurate calibration, there is inherent error.Current, the coalcutter locator meams that underground coal mine generally adopts mainly contains gear counting method, infrared emission method, supersonic reflection method, wireless sensor network positioning method and pure-inertial guidance method.Wherein, coalcutter gear counting localization method is by counting the number of turns of travel unit pinion rotation, and the position of coalcutter is oriented according to hydraulic support, this Measures compare is simple, cost is low, but due to coalcutter be along workplace transverse direction and lengthwise movement in operation process, and gear counting method can only determine coalcutter walking distance, therefore cause location out of true, produce very big error; Infrared emission location rule is at coalcutter fuselage installation infrared emitter, infrared receiving device is fixed with at hydraulic support, in coalcutter operation process, by the analysis that receiving trap is strong and weak to received signal, thus judge coalcutter particular location, the shortcoming of this method is adopted to be can not detect the position of coalcutter by continuous print, the transmitting and receiving of infrared signal simultaneously must be in same level, otherwise be difficult to effective Received signal strength, therefore in the subsurface environment of reality, because disturbing factor is numerous, often can not accurately locate; Wireless sensor network positioning is positioned coal winning machine position by the technology such as WIFI, ZIGBEE, UWB or bluetooth, and this locator meams is often limited by positioning system instability and technical research is immature, therefore high cost cannot use in down-hole; Pure inertial positioning method is the axle acceleration and the axis angular rate that utilize accelerometer and gyroscope to draw coalcutter, then the position of coalcutter is determined by algorithm, this method shortcoming is because gyroscope and accelerometer exist drift, cumulative errors constantly increases, therefore precision is difficult to ensure, also cannot realize the absolute fix to coalcutter.

In sum, existing coalcutter locator meams, as gear counting method, infrared emission method, supersonic reflection method, wireless sensor network positioning method and pure-inertial guidance method etc., comparatively big error is still existed to the location, position of ore deposit silo shearer, often be limited by the impact of testing environment under its detection mode self and mine, the requirement to precision cannot be met to the location of coalcutter.

Summary of the invention

Technical matters: the object of the invention is to overcome the deficiencies in the prior art, the coalcutter locating device providing a kind of inertial navigation and laser scanning to merge and method, solve simple employing inertial navigation and locate the problem that there is cumulative errors and constantly increase, realize accurately locating the position of coalcutter.

Technical scheme: to achieve these goals, the technical solution used in the present invention is: the coalcutter locating device that this inertial navigation and laser scanning are merged and localization method;

Coalcutter locating device comprises: coalcutter, inertial navigation locating device, laser scanning device, locating device explosion-resistant enclosure and host computer; Coalcutter fuselage is fixed with the laser signal receiver module of locating device explosion-resistant enclosure and laser scanning device; Inertial navigation locating device is arranged in locating device explosion-resistant enclosure;

Described inertial navigation locating device comprises three-axis gyroscope, three axis accelerometer, inertial navigation microprocessor; Three-axis gyroscope includes three axle gyrosensors, and three axis accelerometer includes 3-axis acceleration sensor; In coalcutter operational process, inertial navigation locating device records the real-time angular speed on three directions by three-axis gyroscope, the real time acceleration value on three directions is recorded by three axis accelerometer, and the measurement data of three axle gyrosensors and 3-axis acceleration sensor is sampled to inertial navigation microprocessor, inertial navigation microprocessor is connected with host computer by serial ports;

Described laser scanning device comprises laser scanning base station, laser signal receiver module and laser scanning microprocessor; Laser scanning arrangement of base stations is in coalcutter perform region; Laser scanning microprocessor is arranged in locating device explosion-resistant enclosure; Laser signal receiver module is connected with laser scanning microprocessor, and laser scanning microprocessor is connected with host computer by serial ports, laser scanning locator data is reached coalcutter positioning control system in host computer; The laser of laser scanning Base Transmitter is received by the laser signal receiver module on coalcutter fuselage, and the temporal information received is carried out acquisition process by laser scanning microprocessor; Host computer is by carrying out differentiation process to data message, employing least square method determination coefficient weights, neural network algorithm position the blending algorithm of assessment finally to determine coal winning machine position, realize accurately locating.

Coalcutter localization method, comprises the steps:

A. coalcutter fuselage is mounted with locating device explosion-resistant enclosure, whole inertial navigation locating device is arranged in explosion-resistant enclosure; Locating device records real-time angular speed, real time acceleration value on three directions respectively by three-axis gyroscope, three axis accelerometer, and measured value is sent into inertial navigation microprocessor, is resolved by algorithm, obtains the coalcutter positioning result that inertial navigation is measured;

B. arrange laser scanning base station in coalcutter perform region, coalcutter fuselage is installed laser signal receiver module, laser scanning microprocessor is fixed in explosion-resistant enclosure simultaneously, to realize the coalcutter location of laser scanning.

C. inertial navigation microprocessor, laser scanning microprocessor are connected with host computer by serial ports, set up data communication, being sent to host computer coalcutter positioning control system respectively, realizing the mutual of data by resolving the coalcutter positioning result obtained separately;

D. in the coalcutter positioning control system of host computer, according to real work region and Plant arrangement situation, set up coalcutter location model, model comprises laser scanning system, inertial navigation system to realize locator data classification, the three-dimensional location coordinates input laser scanning system of accurate measurement laser scanning base station, accurately measures coalcutter initial position co-ordinates input inertial navigation system;

E. coalcutter normally works, and coalcutter positioning system is run.

In described step B, comprise following steps:

B1. the layout of laser scanning base station should according to the working environment of current coalcutter, according to every bit in coalcutter operational process can by plural base station scans to principle arrange, consider base station Cost Problems, to arrange that 3 base stations realize location simultaneously;

B2. coalcutter fuselage installs laser signal receiver module, module number is 3, to realize the reception to laser signal; Laser scanning microprocessor in explosion-resistant enclosure is connected with laser signal receiver module by serial ports, to realize the reading of data;

B3. laser scanning microprocessor comprises signal threshold value setting section, because laser signal is easily subject to the impact of dust, veil, when laser signal is poor, and the lower requirement that cannot reach location desired signal of intensity, microprocessor does not carry out data and resolves; Setting signal threshold value is δ, and when received signal strength is greater than δ, microprocessor positions data and resolves, and calculates coal winning machine position information by algorithm.

Following steps are comprised in described step e:

E1. coalcutter normally works, inertial navigation system, laser scanning system normally run, owing to having signal threshold value to judge in laser scanning microprocessor, under signal intensity meets situation, the coalcutter locator data feeding blending algorithm that two systems provide, is optimized; When signal intensity does not meet the demand of laser scanning, only adopt inertial navigation locator data as coal winning machine position information;

E2. suppose that inertial navigation system location coal winning machine position is (x 1, y 1, z 1), laser scanning system coalcutter position location is (x 2, y 2, z 2), then according to current detection condition, right of distribution value coefficient a, b, i.e. coal winning machine position coordinate (x, y, z):

(x、y、z)=a(x 1、y 1、z 1)+b(x 2、y 2、z 2)

Meet coefficient a+b=1 simultaneously;

E3. the distribution of weights coefficient adopts least square method to determine, and adopts artificial neural network algorithm to assess the coefficient after distribution and position location, and final realization is located coal winning machine position;

Principle of least square method: suppose there is function:

P n(x)=(x、y、z)=a(x 1、y 1、z 1)+b(x 2、y 2、z 2)=a nx n+a n-1x n-1+…+a 1x+a 0

Wherein, a 0, a 1..., a nfor coefficient constant, P nx () is for launching polynomial expression.Then suppose that array is { (x i, y i) | i=1,2 ..., m }

Selectivity constant a 0, a 1..., a nmake variance minimum, namely

Wherein S is variance, in order to make S minimize, meets for coefficient constant a 0, a 1..., a n, then determine polynomial expression P n(x), and then weight coefficient a, b can be tried to achieve;

Artificial neural network algorithm: in conjunction with coalcutter location actual requirement, set up coalcutter and merge positioning system neural network model, its input layer is two elements of a fix distributing weights, and namely input layer vector P is as follows:

P=[a(x 1、y 1、z 1)、b(x 2、y 2、z 2)]

Output layer O is the coal winning machine position coordinate wanting to obtain, that is: O=[(x, y, z)]

Rule of thumb formula in formula, m refers to the nodes of input layer, and n is the nodes of output layer, and c is the constant within 1-10, and L is node in hidden layer, selects node in hidden layer to be 3, then according to neural network algorithm requirement, and Modling model;

P jrepresent the input of an input layer jth node, j=1,2; w ijrepresent the weights between hidden layer i-th node to an input layer jth node; θ irepresent the threshold value of hidden layer i-th node; represent the excitation function of hidden layer; w irepresent the weights between output layer to hidden layer i-th node, i=1,2,3; τ represents the threshold value of output layer; represent the excitation function of output layer; O represents the output of output layer; For generally be taken as the sigmoid function of value continuously in (0,1): for general employing purelin function, selects then

(1) the propagated forward process of signal

The input net of hidden layer i-th node i: net i=w i1p 1+ w i2p 2+ θ i; The output y of hidden layer i-th node i output layer input net: output layer exports O:

(2) back-propagation process of error

For the positional information of each input, and hypothesis only has one group of sample at every turn, definition error function: wherein, T refers to the output valve of expection, and E is error amount size;

According to error gradient decline principle, output layer weights changes delta w iformula:

output layer changes of threshold Δ τ adjustment formula:

hidden layer weights changes delta w ijadjustment formula:

hidden layer changes of threshold Δ θ iadjustment formula:

Eventually pass through the network optimization, export coalcutter coordinate vector O=[(x, y, z)];

E4. the coalcutter positioning result after algorithm process is inputed to inertial navigation microprocessor by serial ports, carry out the initial value of location compute as inertial navigation microprocessing unit next time, meanwhile, in coalcutter location model, provide positioning result;

E5. when coalcutter moves to tip position, coalcutter is in the state of quitting work, now inertial navigation system quits work, repeatedly duplicate measurements is carried out by laser scanning, minimum circumscribed circle algorithm is adopted to obtain coal winning machine position after rejecting misdata, and by this position result assignment to coal winning machine position initial value in inertial navigation system; Coalcutter works on, and repeats E1 ~ E4.

Beneficial effect, owing to have employed such scheme, coalcutter locating device and method, undertaken merging the location realized coalcutter by inertial navigation location, laser scanning location; Solve simple employing inertial navigation location and can there is the problem that cumulative errors constantly increases, cause coalcutter positioning precision misalignment, adopt the locator meams of laser scanning can realize accurate location, and by positional information assignment accurately to the location initial value be set as in inertial navigation system each time, thus cumulative errors can be removed; Although laser scanning methods registration, but scanning is often affected because of down-hole rugged environment, as dust, veil etc., scanning cannot be obtained a result, also exist because the problem such as time synchronized, time delay produces error simultaneously, now, inertial navigation system can when laser-scanning position errored message is excessive maybe cannot locate when, provide coalcutter positioning result; Two kinds of modes be combined with each other, and adopt combinated optimization algorithm further to process, obtain coal winning machine position coordinate, realize the accurate location to coal winning machine position.

Advantage:

(1) the coalcutter localization method that inertial navigation and laser scanning are merged is chosen, make use of the advantage of two kinds of localization methods itself, the i.e. advantage of strong, the laser scanning accurate positioning of inertial navigation location antijamming capability, effectively inhibit inertial navigation accumulated time error and laser scanning to be easily interfered and block the shortcoming of impact simultaneously, ensure that the precision of location, reduce positioning error, meet the requirement of coalcutter location.

(2) the inventive method use, safe and reliable, install and easy to operate, evaded the situation producing error in actual kinetic measurement, there is important reference value and practical significance.

Accompanying drawing explanation

Fig. 1 is coalcutter positioning system workflow diagram of the present invention.

Fig. 2 is the coalcutter locating device arrangenent diagram that inertial navigation of the present invention and laser scanning are merged.

Fig. 3 is locating device explosion-resistant enclosure schematic internal view of the present invention.

Fig. 4 is algorithm flow chart of the present invention.

In figure: 1, coalcutter; 2, locating device explosion-resistant enclosure; 3, laser signal receiver module; 4, inertial navigation locating device; 4-1, three-axis gyroscope; 4-2, three axis accelerometer; 4-3, inertial navigation microprocessor; 5, laser scanning microprocessor; 6, host computer.

Embodiment

Below in conjunction with accompanying drawing, further description is done to the present invention:

From Fig. 2, Fig. 3, the coalcutter locating device that a kind of inertial navigation and laser scanning are merged, coalcutter locating device comprises: coalcutter 1, inertial navigation locating device 4, laser scanning device, locating device explosion-resistant enclosure 2 and host computer 6; Coalcutter 1 fuselage is fixed with the laser signal receiver module of locating device explosion-resistant enclosure 2 and laser scanning device; Inertial navigation locating device 4 is arranged in locating device explosion-resistant enclosure 2;

Described inertial navigation locating device 4 comprises three-axis gyroscope 4-1, three axis accelerometer 4-2, inertial navigation microprocessor 4-3; Three-axis gyroscope 4-1 includes three axle gyrosensors, and three axis accelerometer 4-2 includes 3-axis acceleration sensor; In coalcutter operational process, inertial navigation locating device 4 records the real-time angular speed on three directions by three-axis gyroscope 4-1, the real time acceleration value on three directions is recorded by three axis accelerometer 4-2, and the measurement data of three axle gyrosensors and 3-axis acceleration sensor is sampled to inertial navigation microprocessor, inertial navigation microprocessor is connected with host computer by serial ports;

Described laser scanning device comprises laser scanning base station, laser signal receiver module 3 and laser scanning microprocessor 5; Laser scanning arrangement of base stations is in coalcutter perform region; Laser scanning microprocessor 5 is arranged in locating device explosion-resistant enclosure 2; Laser signal receiver module 3 is connected with laser scanning microprocessor 5, and laser scanning microprocessor 5 is connected with host computer 6 by serial ports, laser scanning locator data is reached coalcutter positioning control system in host computer 6; The laser of laser scanning Base Transmitter is received by the laser signal receiver module on coalcutter fuselage, and the temporal information received is carried out acquisition process by laser scanning microprocessor 5; Host computer 6 is by carrying out differentiation process to data message, employing least square method determination coefficient weights, neural network algorithm position the blending algorithm of assessment finally to determine coal winning machine position, realize accurately locating.

The coalcutter localization method that inertial navigation and laser scanning are merged, comprises the steps:

A. coalcutter fuselage is mounted with locating device explosion-resistant enclosure, whole inertial navigation locating device is arranged in explosion-resistant enclosure.Locating device records real-time angular speed, real time acceleration value on three directions respectively by three-axis gyroscope, three axis accelerometer, and measured value is sent into inertial navigation microprocessing unit, resolved by algorithm, obtain the coalcutter positioning result that inertial navigation is measured.

B. arrange laser scanning base station in coalcutter perform region, coalcutter fuselage is installed laser signal receiver module, laser scanning microprocessing unit is fixed in explosion-resistant enclosure simultaneously, to realize the coalcutter location of laser scanning.

C. inertial navigation microprocessing unit, laser scanning microprocessing unit are connected with host computer by serial ports, set up data communication, being sent to host computer coalcutter positioning control system respectively, realizing the mutual of data by resolving the coalcutter positioning result obtained separately.

D. in the coalcutter positioning control system of host computer, according to real work region and Plant arrangement situation, set up coalcutter location model, model comprises laser scanning system, inertial navigation system to realize locator data classification, the three-dimensional location coordinates input laser scanning system of accurate measurement laser scanning base station, accurately measures coalcutter initial position co-ordinates input inertial navigation system.

E. coalcutter normally works, and coalcutter positioning system is run.

In described step B, comprise following steps:

B1. the layout of laser scanning base station should according to the working environment of current coalcutter, according to every bit in coalcutter operational process can by plural base station scans to principle arrange, consider base station Cost Problems, general layout 3 base stations are to realize location simultaneously.

B2. coalcutter fuselage installs laser signal receiver module, module number is 3, to realize the reception to laser signal.Laser scanning microprocessing unit in explosion-resistant enclosure is connected with laser signal receiver module by serial ports, to realize the reading of data.

B3. laser scanning microprocessing unit comprises signal threshold value setting section, and because laser signal is easily subject to the impact of dust, veil, when laser signal is poor, the lower requirement that cannot reach location desired signal of intensity, microprocessing unit does not carry out data and resolves.Setting signal threshold value is δ, and when received signal strength is greater than δ, microprocessing unit positions data and resolves, and calculates coal winning machine position information by algorithm.

Fig. 1 is coalcutter positioning system workflow diagram, and coalcutter positioning system workflow is as described in E1 ~ E5:

E1. coalcutter normally works, inertial navigation system, laser scanning system normally run, owing to having signal threshold value to judge in laser scanning microprocessor, under signal intensity meets situation, the coalcutter locator data feeding blending algorithm that two systems provide, is optimized; When signal intensity does not meet the demand of laser scanning, only adopt inertial navigation locator data as coal winning machine position information;

E2. suppose that inertial navigation system location coal winning machine position is (x 1, y 1, z 1), laser scanning system coalcutter position location is (x 2, y 2, z 2), then according to current detection condition, right of distribution value coefficient a, b, i.e. coal winning machine position coordinate (x, y, z):

(x、y、z)=a(x 1、y 1、z 1)+b(x 2、y 2、z 2)

Meet coefficient a+b=1 simultaneously;

E3. the distribution of weights coefficient adopts least square method to determine, and adopts artificial neural network algorithm to assess the coefficient after distribution and position location, and final realization is located coal winning machine position;

Principle of least square method: suppose there is function:

P n(x)=(x、y、z)=a(x 1、y 1、z 1)+b(x 2、y 2、z 2)=a nx n+a n-1x n-1+…+a 1x+a 0

Wherein, a 0, a 1..., a nfor coefficient constant, P nx () is for launching polynomial expression.Then suppose that array is { (x i, y i) | i=1,2 ..., m }

Selectivity constant a 0, a 1..., a nmake variance minimum, namely

Wherein S is variance, in order to make S minimize, meets for coefficient constant a 0, a 1..., a n, then determine polynomial expression P n(x), and then weight coefficient a, b can be tried to achieve;

Artificial neural network algorithm: in conjunction with coalcutter location actual requirement, set up coalcutter and merge positioning system neural network model, its input layer is two elements of a fix distributing weights, and namely input layer vector P is as follows:

P=[a(x 1、y 1、z 1)、b(x 2、y 2、z 2)]

Output layer O is the coal winning machine position coordinate wanting to obtain, that is: O=[(x, y, z)]

Rule of thumb formula in formula, m refers to the nodes of input layer, and n is the nodes of output layer, and c is the constant within 1-10, and L is node in hidden layer, selects node in hidden layer to be 3, then according to neural network algorithm requirement, and Modling model; P jrepresent the input of an input layer jth node, j=1,2; w ijrepresent the weights between hidden layer i-th node to an input layer jth node; θ irepresent the threshold value of hidden layer i-th node; represent the excitation function of hidden layer; w irepresent the weights between output layer to hidden layer i-th node, i=1,2,3; τ represents the threshold value of output layer; represent the excitation function of output layer; O represents the output of output layer; For generally be taken as the sigmoid function of value continuously in (0,1): for general employing purelin function, selects then

(1) the propagated forward process of signal

The input net of hidden layer i-th node i: net i=w i1p 1+ w i2p 2+ θ i; The output y of hidden layer i-th node i output layer input net: output layer exports O:

(2) back-propagation process of error

For the positional information of each input, and hypothesis only has one group of sample at every turn, definition error function: wherein, T refers to the output valve of expection, and E is error amount size;

According to error gradient decline principle, output layer weights changes delta w iformula:

output layer changes of threshold Δ τ adjustment formula:

hidden layer weights changes delta w ijadjustment formula:

hidden layer changes of threshold Δ θ iadjustment formula:

Eventually pass through the network optimization, export coalcutter coordinate vector O=[(x, y, z)];

E4. the coalcutter positioning result after algorithm process is inputed to inertial navigation microprocessing unit by serial ports, carry out the initial value of location compute as inertial navigation microprocessing unit next time.Meanwhile, in coalcutter location model, positioning result is provided.

E5. when coalcutter moves to tip position, coalcutter is in the state of quitting work, now inertial navigation system quits work, repeatedly duplicate measurements is carried out by laser scanning, minimum circumscribed circle algorithm is adopted to obtain coal winning machine position after rejecting misdata, and by this position result assignment to coal winning machine position initial value in inertial navigation system.Coalcutter works on, and repeats E1 ~ E4.

Claims (6)

1. the coalcutter locating device that merges of inertial navigation and laser scanning, is characterized in that: coalcutter locating device comprises: coalcutter, inertial navigation locating device, laser scanning device, locating device explosion-resistant enclosure and host computer; Coalcutter fuselage is fixed with the laser signal receiver module of locating device explosion-resistant enclosure and laser scanning device; Inertial navigation locating device is arranged in locating device explosion-resistant enclosure.
2. the coalcutter locating device that merges of a kind of inertial navigation according to claim 1 and laser scanning, is characterized in that: described inertial navigation locating device comprises three-axis gyroscope, three axis accelerometer, inertial navigation microprocessor; Three-axis gyroscope includes three axle gyrosensors, and three axis accelerometer includes 3-axis acceleration sensor; In coalcutter operational process, inertial navigation locating device records the real-time angular speed on three directions by three-axis gyroscope, the real time acceleration value on three directions is recorded by three axis accelerometer, and the measurement data of three axle gyrosensors and 3-axis acceleration sensor is sampled to inertial navigation microprocessor, inertial navigation microprocessor is connected with host computer by serial ports.
3. the coalcutter locating device that merges of a kind of inertial navigation according to claim 1 and laser scanning, is characterized in that: described laser scanning device comprises laser scanning base station, laser signal receiver module and laser scanning microprocessor; Laser scanning arrangement of base stations is in coalcutter perform region; Laser scanning microprocessor is arranged in locating device explosion-resistant enclosure; Laser signal receiver module is connected with laser scanning microprocessor, and laser scanning microprocessor is connected with host computer by serial ports, laser scanning locator data is reached coalcutter positioning control system in host computer; The laser of laser scanning Base Transmitter is received by the laser signal receiver module on coalcutter fuselage, and the temporal information received is carried out acquisition process by laser scanning microprocessor; Host computer is by carrying out differentiation process to data message, employing least square method determination coefficient weights, neural network algorithm position the blending algorithm of assessment finally to determine coal winning machine position, realize accurately locating.
4. the localization method of coalcutter locating device that merges of a kind of inertial navigation according to claim 1 and laser scanning, is characterized in that: coalcutter localization method, comprises the steps:
A. coalcutter fuselage is mounted with locating device explosion-resistant enclosure, whole inertial navigation locating device is arranged in explosion-resistant enclosure; Locating device records real-time angular speed, real time acceleration value on three directions respectively by three-axis gyroscope, three axis accelerometer, and measured value is sent into inertial navigation microprocessor, is resolved by algorithm, obtains the coalcutter positioning result that inertial navigation is measured;
B. arrange laser scanning base station in coalcutter perform region, coalcutter fuselage is installed laser signal receiver module, laser scanning microprocessor is fixed in explosion-resistant enclosure simultaneously, to realize the coalcutter location of laser scanning.
C. inertial navigation microprocessor, laser scanning microprocessor are connected with host computer by serial ports, set up data communication, being sent to host computer coalcutter positioning control system respectively, realizing the mutual of data by resolving the coalcutter positioning result obtained separately;
D. in the coalcutter positioning control system of host computer, according to real work region and Plant arrangement situation, set up coalcutter location model, model comprises laser scanning system, inertial navigation system to realize locator data classification, the three-dimensional location coordinates input laser scanning system of accurate measurement laser scanning base station, accurately measures coalcutter initial position co-ordinates input inertial navigation system;
E. coalcutter normally works, and coalcutter positioning system is run.
5. the coalcutter localization method that merges of a kind of inertial navigation according to claim 4 and laser scanning, is characterized in that, in described step B, comprise following steps:
B1. the layout of laser scanning base station should according to the working environment of current coalcutter, according to every bit in coalcutter operational process can by plural base station scans to principle arrange, consider base station Cost Problems, to arrange that 3 base stations realize location simultaneously;
B2. coalcutter fuselage installs laser signal receiver module, module number is 3, to realize the reception to laser signal; Laser scanning microprocessor in explosion-resistant enclosure is connected with laser signal receiver module by serial ports, to realize the reading of data;
B3. laser scanning microprocessor comprises signal threshold value setting section, because laser signal is easily subject to the impact of dust, veil, when laser signal is poor, and the lower requirement that cannot reach location desired signal of intensity, microprocessor does not carry out data and resolves; Setting signal threshold value is δ, and when received signal strength is greater than δ, microprocessor positions data and resolves, and calculates coal winning machine position information by algorithm.
6. the coalcutter localization method that merges of a kind of inertial navigation according to claim 4 and laser scanning, is characterized in that, comprise following steps in described step e:
E1. coalcutter normally works, inertial navigation system, laser scanning system normally run, owing to having signal threshold value to judge in laser scanning microprocessor, under signal intensity meets situation, the coalcutter locator data feeding blending algorithm that two systems provide, is optimized; When signal intensity does not meet the demand of laser scanning, only adopt inertial navigation locator data as coal winning machine position information;
E2. suppose that inertial navigation system location coal winning machine position is (x 1, y 1, z 1), laser scanning system coalcutter position location is (x 2, y 2, z 2), then according to current detection condition, right of distribution value coefficient a, b, i.e. coal winning machine position coordinate (x, y, z):
(x、y、z)=a(x 1、y 1、z 1)+b(x 2、y 2、z 2)
Meet coefficient a+b=1 simultaneously;
E3. the distribution of weights coefficient adopts least square method to determine, and adopts artificial neural network algorithm to assess the coefficient after distribution and position location, and final realization is located coal winning machine position;
Principle of least square method: suppose there is function:
P n(x)=(x、y、z)=a(x 1、y 1、z 1)+b(x 2、y 2、z 2)=a nx n+a n-1x n-1+…+a 1x+a 0
Wherein, a 0, a 1..., a nfor coefficient constant, P nx () is for launching polynomial expression.Then suppose that array is { (x i, y i) | i=1,2 ..., m}
Selectivity constant a 0, a 1..., a nmake variance minimum, namely
Wherein S is variance, in order to make S minimize, meets for coefficient constant a 0, a 1..., a n, then determine polynomial expression P n(x), and then weight coefficient a, b can be tried to achieve;
Artificial neural network algorithm: in conjunction with coalcutter location actual requirement, set up coalcutter and merge positioning system neural network model, its input layer is two elements of a fix distributing weights, and namely input layer vector P is as follows:
P=[a(x 1、y 1、z 1)、b(x 2、y 2、z 2)}
Output layer O is the coal winning machine position coordinate wanting to obtain, that is: O=[(x, y, z)]
Rule of thumb formula in formula, m refers to the nodes of input layer, and n is the nodes of output layer, and c is the constant within 1-10, and L is node in hidden layer, selects node in hidden layer to be 3, then according to neural network algorithm requirement, and Modling model;
P jrepresent the input of an input layer jth node, j=1,2; w ijrepresent the weights between hidden layer i-th node to an input layer jth node; θ irepresent the threshold value of hidden layer i-th node; represent the excitation function of hidden layer; w irepresent the weights between output layer to hidden layer i-th node, i=1,2,3; τ represents the threshold value of output layer; represent the excitation function of output layer; O represents the output of output layer; For generally be taken as the sigmoid function of value continuously in (0,1): for general employing purelin function, selects then
(1) the propagated forward process of signal
The input net of hidden layer i-th node i: net i=w i1p 1+ w i2p 2+ θ i; The output y of hidden layer i-th node i output layer input net: output layer exports O:
(2) back-propagation process of error
For the positional information of each input, and hypothesis only has one group of sample at every turn, definition error function: wherein, T refers to the output valve of expection, and E is error amount size;
According to error gradient decline principle, output layer weights changes delta w iformula:
output layer changes of threshold Δ τ adjustment formula:
hidden layer weights changes delta w ijadjustment formula:
hidden layer changes of threshold Δ θ iadjustment formula:
Eventually pass through the network optimization, export coalcutter coordinate vector O=[(x, y, z)];
E4. the coalcutter positioning result after algorithm process is inputed to inertial navigation microprocessor by serial ports, carry out the initial value of location compute as inertial navigation microprocessing unit next time, meanwhile, in coalcutter location model, provide positioning result;
E5. when coalcutter moves to tip position, coalcutter is in the state of quitting work, now inertial navigation system quits work, repeatedly duplicate measurements is carried out by laser scanning, minimum circumscribed circle algorithm is adopted to obtain coal winning machine position after rejecting misdata, and by this position result assignment to coal winning machine position initial value in inertial navigation system; Coalcutter works on, and repeats E1 ~ E4.
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