CN108775899A - Coordinate system connection method above and below deep mining well based on pseudo satellite, pseudolite and Inertia information - Google Patents
Coordinate system connection method above and below deep mining well based on pseudo satellite, pseudolite and Inertia information Download PDFInfo
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- CN108775899A CN108775899A CN201810547666.7A CN201810547666A CN108775899A CN 108775899 A CN108775899 A CN 108775899A CN 201810547666 A CN201810547666 A CN 201810547666A CN 108775899 A CN108775899 A CN 108775899A
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- pseudolite
- pseudo satellite
- data
- inertial measurement
- coordinate system
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Classifications
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Abstract
The invention discloses coordinate system connection methods above and below the deep mining well based on pseudo satellite, pseudolite and Inertia information, this method is first according to mine cross-section diagram, multiple pseudolite transmitters are laid in the characteristic point of the top different directions of pit shaft, pseudolite transmitter coordinate is determined using total powerstation；Inertial measurement system is separately fixed to the both ends at the top of cage, the initial coordinate of Inertial Measurement Unit is measured using total powerstation, accurately measures the lever arm value relative to Inertial Measurement Unit center respectively with total powerstation；Pseudorange and carrier phase observation data are obtained by the pseudolite transmitter being laid on shaft in wall, angular speed and acceleration information are obtained using Inertial Measurement Unit, the inertial data and pseudo satellite, pseudolite data preserved using PC terminal-pairs carries out tight integration data calculation, the present invention can utilize cage device, obtain observation to quick high accuracy, the disadvantage for overcoming conventional method to be restricted by temperature, humidity and construction, saves man power and material, ensures production.
Description
Technical field
The present invention relates to coordinate system connection method above and below a kind of well, especially a kind of depth based on pseudo satellite, pseudolite and Inertia information
The coordinate system connection method up and down of portion's recovery well.
Background technology
For deep is precisely exploited, space reference can be that operation, safe early warning and the disaster of underground mining are determined
Plan provides important evidence.Space of mine benchmark requires well, and coordinate system is consistent up and down, and coordinate system on well is introduced underground, that is, is joined
System measures.But for the vertical shaft of deep, the depth of mine is larger, and the factors such as temperature, light, humidity in mine are that contact is surveyed
Amount bring difficulty, and the precision of measurement is limited.
Traditional connection survey is broadly divided into plane connection survey (orientation) and elevation survey.Plane connection survey
Include mainly connection triangle method and gyro bearing horn cupping.The former transfers 2 steel wires with plumb bob and carries out cultellation, root first
Whether static according to plumb bob, it is divided into stable cultellation method and swings cultellation method；Then it according to the consistent principle of coordinate above and below steel wire well, adopts
Conducting wire is laid with connection triangle method, connection angle is measured using total powerstation, steel ruler is selected to measure the water between two steel wires
Flat distance；Finally, into the overall adjustment of row conductor, plane coordinates is imported into underground.The latter transfers 1 steel with plumb bob first
Silk carries out cultellation；Then, the gyro azimuth of point for shaft position and steel wire line on well is measured using gyroscope；Finally, gyro is utilized
Instrument measures the gyro azimuth of underground point and steel wire line, by office work management, obtains the plane coordinates of underground point.Elevation contacts
Measurement is mainly carried out by the way of long steel ruler, long steel wire and geodimeter.Long steel wire is similar with long steel ruler principle, mainly
Measured at steel ruler or steel wire alignment target using spirit level and height difference that well controls up and down, then measure between two marks away from
From finally progress height difference calculating obtains underground control point elevation；Geodimeter, the principle measured using reflective mirror obtain well
Upper and lower height difference, and then obtain elevation.
Conventional method is more demanding to measuring environment, connection triangle method, and well is needed to be carried out at the same time measurement up and down to ensure essence
Degree, the time for occupying pit shaft are longer；Requirement higher of the gyro bearing horn cupping to environment, the time measured every time is longer, pit shaft
Neighbouring recovery activity etc. must stop carrying out, and instrument is more expensive, and the degree of stability degree of correlation of measurement accuracy and steel wire
Higher, for deep mining, the stable condition of steel wire is restricted；Elevation survey faces same situation, pit shaft
Interior environment constitutes challenge, the stretching, extension of steel ruler and steel wire and vertical journey to the measurement of long steel ruler, long steel wire and geodimeter
Degree is related with temperature, material, and the factors such as dust, steam in pit shaft will increase the range error of geodimeter.Therefore, seek
One kind can guarantee that precision and the higher well of reliability or more coordinate connection method are most important.
Invention content
Technical problem：The present invention is to overcome the shortcomings of above-mentioned traditional coordinate well connection survey up and down, provide a kind of high-precision,
Efficiently well coordinate connection method up and down.
The present invention provides specific technical solution：Coordinate system above and below deep mining well based on pseudo satellite, pseudolite and Inertia information
Connection system includes the pseudo satellite, pseudolite set on mine top, for providing high-precision distance measure, including pseudorange and carrier wave phase
Position observation；
Inertial measurement system at the top of cage, including several inertial sensors, the angle speed for providing high sampling rate
Degree and acceleration information；
Pseudolite receiver at the top and bottom of cage, for receiving pseudo satellite, pseudolite data；
The PC terminals being connect with inertial measurement system, pseudolite receiver are used for collected pseudo satellite, pseudolite data and are used to
Property measuring system data stored, finally carry out data clock synchronization, and repair using tight integration Kalman filtering and zero-speed
Face data are handled and are analyzed.
Further, the inertial measurement system can obtain the timestamp of inertial guidance data by GPS antenna, therefore should be from
Enter cage outside well, and has begun gathered data outside well.
Further, the Kalman filtering refers to robust Kalman filtering device and adaptive Kalman filter.
Coordinate system connection method above and below deep mining well based on pseudo satellite, pseudolite and Inertia information, includes the following steps：
A, multiple pseudo satellite, pseudolite transmittings are laid in the characteristic point of the top different directions of pit shaft according to mine cross-section diagram first
Device, and utilization total powerstation accurately determines the coordinate of pseudo satellite, pseudolite.
2 inertial measurement systems are fixed on the both ends at the top of cage by b, winding cage；Meanwhile by pseudolite receiver
It is fixed on the top and bottom of cage；Accurately measure the lever arm value relative to Inertial Measurement Unit center respectively with total powerstation.
C, cage is transferred, carries out inertia measurement and pseudo satellite, pseudolite measures, utilizes PC terminal-pairs inertial data and satellite data
It is stored, finally carries out data clock synchronization.
D, wait for that cage reaches pit shaft bottom end, using total station survey underground control point to two inertial sensor central points
Angle between distance and angle and any inertial sensor and another underground control point and distance, by being laid in pit shaft
Pseudolite transmitter on inner wall obtains pseudorange and carrier phase observation data, and angular speed and acceleration are obtained using Inertial Measurement Unit
Spend information.
E, the inertial data and pseudo satellite, pseudolite data preserved using PC terminal-pairs carries out tight integration data calculation, while being added zero
Fast modification method, Inertia information auxiliary pseudo satellite, pseudolite Detection of Gross Errors and fuzziness are fixed, are obtained using robust adaptive filter method
Obtain the centre coordinate of 2 inertial measurement systems.According to the angle and distance information that step d is obtained, adjustment resolving is carried out, is finally obtained
The coordinate at the underground control points Liang Ge is obtained, well coordinate system connection up and down is completed.
Further, it is consistent when the clock synchronization described in step c includes the internal clocking and GPS of pseudo satellite, pseudolite；It is pseudo-
It is consistent when the clock and GPS of satellite receiver；The timestamp of Inertial Measurement Unit should be GPS clock.
Further, the lever arm value described in step b is pseudolite receiver center relative to Inertial Measurement Unit center
The difference of three axis directions.
Further, the angular speed described in step d and acceleration information are either angular speed and angular rate information
Can be angular speed increment and acceleration increment information.
Further, the tight integration described in step e refers to being based on pseudorange and carrier phase raw observation observational equation
Tight integration navigation.
The invention has the advantages that：(1) the original tactic pattern of pit shaft is not changed, operation is simple.
(2) long steel wire, long steel ruler need not be laid, human and material resources are saved, the result precision of measurement is higher.
(3) measure dependence is cage system, is not restricted by external environment.
(4) when measuring, stop exploitation without underground, ensure being normally carried out for production.
Description of the drawings
Fig. 1, which is that the present invention is based on pseudo satellite, pseudolites, connects the method stream of system with coordinate system above and below the deep mining well of Inertia information
Cheng Tu.
Fig. 2, which is that the present invention is based on pseudo satellite, pseudolites, to be connected with coordinate system above and below the deep mining well of Inertia information at the data of system
Manage flow chart.
Specific implementation mode
1~2 pair of specific implementation mode of the invention further illustrates below in conjunction with the accompanying drawings：
The present invention is based on pseudo satellite, pseudolites to connect in system coordinate above and below well with coordinate system above and below the deep mining well of Inertia information
It is that connection method includes 4 parts, respectively pseudo satellite, pseudolite and receiver part, inertial sensor part, PC terminal parts, coordinate
It is coupling part.Pseudo satellite, pseudolite and receiver include double frequency satellite-signal transmitter and receiver, determine that pseudo satellite, pseudolite coordinate and puppet are defended
It is consistent when star and receiver clock and GPS；Inertial Measurement Unit adds in inertial sensor record cage motion process
Speed and angular velocity information；PC terminals carry out the storage of inertial data and the storage of receiver module pseudo satellite, pseudolite data and final
Tight integration resolve and underground control point coordinate adjustment；Coordinate system coupling part is in underground control point and Inertial Measurement Unit
Heart point establishes contact, obtains final underground control point coordinate.
In the present embodiment, the entire well specific implementation mode that coordinate system connection measures up and down：
A, multiple pseudo satellite, pseudolite transmittings are laid in the characteristic point of the top different directions of pit shaft according to mine cross-section diagram first
Device, and utilization total powerstation accurately determines the coordinate of pseudo satellite, pseudolite.
2 inertial measurement systems are fixed on the both ends at the top of cage by b, winding cage；Meanwhile by pseudolite receiver
It is fixed on the top and bottom of cage；Accurately measure the lever arm value relative to Inertial Measurement Unit center respectively with total powerstation.
C, cage is transferred, carries out inertia measurement and pseudo satellite, pseudolite measures, utilizes PC terminal-pairs inertial data and satellite data
It is stored, finally carries out data clock synchronization.
D, wait for that cage reaches pit shaft bottom end, using total station survey underground control point to two inertial sensor central points
Angle between distance and angle and any inertial sensor and another underground control point and distance, by being laid in pit shaft
Pseudolite transmitter on inner wall obtains pseudorange and carrier phase observation data, and angular speed and acceleration are obtained using Inertial Measurement Unit
Spend information.
E, the inertial data and pseudo satellite, pseudolite data preserved using PC terminal-pairs carries out tight integration data calculation, while being added zero
Fast modification method, Inertia information auxiliary pseudo satellite, pseudolite Detection of Gross Errors and fuzziness are fixed, are obtained using robust adaptive filter method
Obtain the centre coordinate of 2 inertial measurement systems.According to the angle and distance information that step d is obtained, adjustment resolving is carried out, is finally obtained
The coordinate at the underground control points Liang Ge is obtained, well coordinate system connection up and down is completed.
As the present embodiment preferred embodiment, when the clock synchronization described in step c includes the inside of pseudo satellite, pseudolite
Clock and when GPS, are consistent；It is consistent when the clock and GPS of pseudolite receiver；The timestamp of Inertial Measurement Unit should be
GPS clock.
As the present embodiment preferred embodiment, the lever arm value described in step b is pseudolite receiver center phase
For the difference of three axis directions in Inertial Measurement Unit center.
As the present embodiment preferred embodiment, angular speed and acceleration information described in step d either
Angular speed and angular rate information can also be angular speed increment and acceleration increment information.
As the present embodiment preferred embodiment, the tight integration described in step e refers to being based on pseudorange and carrier wave phase
The tight integration navigation of position raw observation observational equation.
The present invention and its embodiments have been described above, this description is no restricted, shown in attached drawing
Only one of embodiments of the present invention, actual structure is not limited to this.All in all if the ordinary skill of this field
Personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution phase
As frame mode and embodiment, be within the scope of protection of the invention.
Claims (8)
1. connecting system with coordinate system above and below the deep mining well of Inertia information based on pseudo satellite, pseudolite, it is characterised in that：Including being set to
The pseudo satellite, pseudolite on mine top, for providing high-precision distance measure, including pseudorange and carrier phase observation data；
Inertial measurement system at the top of cage, including several inertial sensors, for provide high sampling rate angular speed and
Acceleration information；
Pseudolite receiver at the top and bottom of cage, for receiving pseudo satellite, pseudolite data；
The PC terminals being connect with inertial measurement system, pseudolite receiver, for being surveyed to collected pseudo satellite, pseudolite data and inertia
Amount system data is stored, and finally carries out data clock synchronization, and use tight integration Kalman filtering and zero-velocity curve pair
Data are handled and are analyzed.
2. it is wanted to connect system with coordinate system above and below the deep mining well of Inertia information based on pseudo satellite, pseudolite described in 1 according to right,
It is characterized in that：The inertial measurement system can obtain the timestamp of inertial guidance data by GPS antenna, therefore should enter outside well
Cage, and gathered data is had begun outside well.
3. according to claim 1 connect system based on pseudo satellite, pseudolite with coordinate system above and below the deep mining well of Inertia information,
It is characterized in that：The Kalman filtering refers to robust Kalman filtering device and adaptive Kalman filter.
4. coordinate system connection method above and below the deep mining well based on pseudo satellite, pseudolite and Inertia information, which is characterized in that including following
Step：
A, multiple pseudolite transmitters are laid in the characteristic point of the top different directions of pit shaft according to mine cross-section diagram first,
And the coordinate of pseudo satellite, pseudolite is accurately determined using total powerstation.
2 inertial measurement systems are fixed on the both ends at the top of cage by b, winding cage；Meanwhile pseudolite receiver being fixed
In the top and bottom of cage；Accurately measure the lever arm value relative to Inertial Measurement Unit center respectively with total powerstation.
C, cage is transferred, carries out inertia measurement and pseudo satellite, pseudolite measures, is carried out using PC terminal-pairs inertial data and satellite data
Storage finally carries out data clock synchronization.
D, wait for that cage reaches pit shaft bottom end, using total station survey underground control point to the distance of two inertial sensor central points
Angle between angle and any inertial sensor and another underground control point and distance, by being laid in shaft in wall
On pseudolite transmitter obtain pseudorange and carrier phase observation data, obtain angular speed using Inertial Measurement Unit and acceleration believed
Breath.
E, the inertial data and pseudo satellite, pseudolite data preserved using PC terminal-pairs carries out tight integration data calculation, while zero-speed is added and repaiies
Correction method, Inertia information auxiliary pseudo satellite, pseudolite Detection of Gross Errors and fuzziness are fixed, and 2 are obtained using robust adaptive filter method
The centre coordinate of inertial measurement system.According to the angle and distance information that step d is obtained, adjustment resolving is carried out, well is finally obtained
The coordinate at lower two control points completes well coordinate system connection up and down.
5. coordinate system connection method above and below the deep mining well according to claim 4 based on pseudo satellite, pseudolite and Inertia information,
It is characterized in that：Clock synchronization described in step c is consistent when including the internal clocking and GPS of pseudo satellite, pseudolite；Pseudo satellite, pseudolite connects
It is consistent when the clock and GPS of receiving device；The timestamp of Inertial Measurement Unit should be GPS clock.
6. coordinate system connection method above and below the deep mining well according to claim 4 based on pseudo satellite, pseudolite and Inertia information,
It is characterized in that：Lever arm value described in step b is pseudolite receiver center relative to three, Inertial Measurement Unit center axis
The difference in direction.
7. coordinate system connection method above and below the deep mining well according to claim 4 based on pseudo satellite, pseudolite and Inertia information,
It is characterized in that：Angular speed and acceleration information described in step d is either angular speed and angular rate information can also be
Angular speed increment and acceleration increment information.
8. coordinate system connection method above and below the deep mining well according to claim 4 based on pseudo satellite, pseudolite and Inertia information,
It is characterized in that：Tight integration described in step e refers to tight group based on pseudorange and carrier phase raw observation observational equation
Close navigation.
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| CN201810547666.7A CN108775899B (en) | 2018-05-31 | 2018-05-31 | Deep mining well up-down coordinate system connection method based on pseudolite and inertia information |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112378399A (en) * | 2020-07-16 | 2021-02-19 | 西安科技大学 | Coal mine tunnel tunneling robot precise positioning and orientation method based on strapdown inertial navigation and digital total station |
| CN112483066A (en) * | 2019-09-12 | 2021-03-12 | 安徽恒源煤电股份有限公司钱营孜煤矿 | Method for measuring up-down connection of shaft for mine |
| CN113267191A (en) * | 2021-05-26 | 2021-08-17 | 中国电子科技集团公司第五十四研究所 | Unmanned navigation system and method based on pseudolite indoor signal map correction |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112483066A (en) * | 2019-09-12 | 2021-03-12 | 安徽恒源煤电股份有限公司钱营孜煤矿 | Method for measuring up-down connection of shaft for mine |
| CN112483066B (en) * | 2019-09-12 | 2023-09-15 | 安徽恒源煤电股份有限公司钱营孜煤矿 | Method for measuring up-down connection of shaft for mine |
| CN112378399A (en) * | 2020-07-16 | 2021-02-19 | 西安科技大学 | Coal mine tunnel tunneling robot precise positioning and orientation method based on strapdown inertial navigation and digital total station |
| CN112378399B (en) * | 2020-07-16 | 2023-02-28 | 西安科技大学 | Coal mine tunnel tunneling robot precise positioning and orientation method based on strapdown inertial navigation and digital total station |
| CN113267191A (en) * | 2021-05-26 | 2021-08-17 | 中国电子科技集团公司第五十四研究所 | Unmanned navigation system and method based on pseudolite indoor signal map correction |
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