CN109931958A - One kind being based on UWB coalcutter face end calibrating installation and method - Google Patents
One kind being based on UWB coalcutter face end calibrating installation and method Download PDFInfo
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- CN109931958A CN109931958A CN201910235259.7A CN201910235259A CN109931958A CN 109931958 A CN109931958 A CN 109931958A CN 201910235259 A CN201910235259 A CN 201910235259A CN 109931958 A CN109931958 A CN 109931958A
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Abstract
One kind being based on UWB coalcutter face end calibrating installation and method, belongs to silo shearer end collimation technique field.Mounting and positioning device explosion-resistant enclosure on coalcutter fuselage, the interior installation inertial navigation positioning device of positioning device explosion-resistant enclosure and UWB positioning terminal sensor；The base station UWB is fixed on bracket, and bracket is mounted on screw rod, and screw rod is arranged on guide rail, and screw rod is connect with motor by shaft coupling, and shaft encoder is connected on motor；Supporter is placed below guide rail；Inertial navigation positioning device, UWB positioning terminal sensor, shaft encoder are connected by data microprocessing unit with computer；After UWB positioning system completes calibration to coalcutter in end, UWB is moved base station along gate road, it is ready for calibration next time, form the end calibration system to coalcutter " knife one calibration ", the position error of coalcutter can be reduced, the positioning accuracy of coalcutter is improved, it is easy to operate, it is practical.
Description
Technical field
The present invention relates to a kind of silo shearer end collimation technique fields, especially a kind of to be worked based on UWB coalcutter
Face end calibrating installation and method.
Background technique
The automation of underground coal mine fully-mechanized mining working and intelligence are the key that realization mine is unmanned, safety and high efficiency
Step, and the important component for developing digital mine, improving mine dynamoelectric equipment informationization and automatization level.To realize
Few peopleization of fully-mechanized mining working and unmanned, fully-mechanized mining working " three machines " the i.e. intelligence of coalcutter, drag conveyor and hydraulic support
Energyization is one of key technology, and coalcutter is to realize the core skill of intelligent fully-mechanized mining working in the three-dimensional localization of geological space
Art.Positioning for coalcutter, different researchers conduct in-depth research, and mainly wrap suitable for the positioning principle of coalcutter at present
Infrared ray positioning, wireless sensing positioning, odometer positioning, laser positioning, ultrasonic wave positioning, pure-inertial guidance positioning are included, still
The requirement of underground location precision is not achieved in these localization methods.
Ultra-wideband (UWB) the Technology of Ultra is to carry out high speed wireless data biography using pulse signal
Defeated short-range communication technology, with very high bandwidth, strong antijamming capability, anti-multipath is strong, penetrability is strong, low-power consumption, sighting distance
Error in range can reach the advantages that centimetre rank, and UWB sensor is already used to realize three-dimensional localization, this is adopted for underground
The positioning of coal machine is had laid a good foundation.Application No. is: CN201711010474.4 discloses a kind of fully-mechanized mining working advance rate
Detection system and method, this method position anchor point in the equidistant fixed installation of palisades of air inlet, air return lane, hydraulic support,
The upper sides such as coalcutter administration positioning label and register control, pass through the base station UWB on hydraulic support and the UWB on coalcutter
It positions label and forms positioning system, the position of coalcutter is calculated according to ranging data, this method can be realized to coalcutter
Positioning, but the influence due to hydraulic support metallic object to the propagation of electromagnetism causes dysmetria really to lead to positioning accuracy
It is not high, while the frequent mobile actual coordinate inaccuracy for also resulting in the base station UWB of hydraulic support, will also result in position error compared with
Greatly.Application No. is: CN201510869993.0, the combination for disclosing a kind of silo shearer Strapdown Inertial Navigation System, which is initially aligned, is
System and alignment methods, application No. is: 201510616936.1, disclose a kind of coal winning machine position inspection based on Ultra-short pulse technology
Device is surveyed, both methods is all that wireless sensor is mounted on the top beam and pedestal of hydraulic support, and the metal ignored is to nothing
The influence of the influence of line signal and the movement of hydraulic support to base station coordinates, so that the localization method is ineffective.Application No. is:
CN201410749250.5, it is open a kind of based on UWB coalcutter absolute position accurate calibration method and device, it is positioned in coalcutter
UWB is placed in device and positions label, several super wideband wireless communication UWB sensor is evenly arranged in gate road, edge is opened
The signal transmitting and receiving region for adopting each super wideband wireless communication UWB sensor of regional assignment, communicates UWB according to each super wideband wireless
The absolute coordinate of sensor establishes coalcutter absolute position accurate calibration model in host computer, and this method is although it is contemplated that liquid
The influence that pressure bracket propagates UWB signal, UWB is arranged in gate road, but has ignored the base station UWB and UWB positioning mark
When label are communicated, they are within the scope of non line of sight, and UWB signal needs guiding through coal seam and could be positioned by the UWB on coalcutter machine
Label receives, and the range error in non line of sight is larger, and the position coordinates error resolved is larger, causes position inaccurate,
With the extension of coalcutter working time, error can be gradually increased, and the effect to coalcutter calibration is not achieved.
It is the key that realize fully mechanized mining, existing location technology and school that coalcutter, which is efficiently and accurately positioned and monitored,
Quasi- technology is still difficult to meet underground complex environment in practical applications, calibrates to coalcutter location technology and coal winning machine position
The improvement of technology is extremely urgent, needs new method to solve the orientation problem of coalcutter.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of based on the work of UWB coalcutter
Face end calibrating installation and method, it is intended to solve the problem of that coalcutter position error constantly accumulates position inaccurate.
The invention is realized in this way a kind of be based on UWB coalcutter face end calibrating installation, comprising: coalcutter machine
Body, inertial navigation positioning device, UWB positioning terminal sensor, positioning device explosion-resistant enclosure, the base station UWB, bracket, guide rail, axis are compiled
Code device, computer, data microprocessing unit, supporter, screw rod, shaft coupling, motor, gate road；It is worked based on UWB coalcutter
The guide rail of face end calibrating installation is mounted in gate road, convenient for being based on UWB coalcutter face end calibrating installation suitable
Slot is run in tunnel；UWB positioning system includes the base station UWB and UWB positioning terminal sensor；The stationary positioned on coalcutter fuselage
Device explosion-resistant enclosure, the interior installation inertial navigation positioning device of positioning device explosion-resistant enclosure and UWB positioning terminal sensor；Inertia is led
Input terminal of the signal output end of boat positioning device, UWB positioning terminal sensor and shaft encoder with data microprocessing unit
It is connected, data microprocessing unit is connected with computer, and computer installation is in gate road；Bracket is mounted on screw rod, UWB base
Station is fixed on bracket, and screw rod is connect with motor by shaft coupling；Supporter is placed between guide rail and gate road, and screw rod is set
It sets above guide rail, shaft encoder is mounted on motor.
The base station UWB is identical with UWB positioning terminal sensor structure, is UWB sensor.
A kind of calibration method based on UWB coalcutter face end calibrating installation, specific steps are as follows:
Supporter is uniformly placed on the gate road of underground coal mine two sides according to the actual environment of mine by step (1)
Recess fixes guide rail on supporter, and ensures that two side rails are in same plane；The branch is installed on two side rails
Frame is tightly fastened 4 base stations UWB respectively on bracket；
Step (2) establishes coordinate system according to regional environment, determines the three-dimensional coordinate of each base station UWB, utilizes laser ranging
Instrument is proofreaded；The practical three-dimensional coordinate in the base station UWB is input in computer, and networking is carried out to UWB positioning system；
For step (3) coalcutter in cutting motion process, inertial navigation positioning device positions coalcutter, works as coal mining
When machine is moved to apart from 5~10 meters of gate road end, start UWB positioning system, is positioned by inertial navigation positioning device and UWB
System positions simultaneously, and the data of acquisition are respectively transmitted to computer, are resolved by algorithm, inertial navigation positioning device is adopted
The location information P of coal machineINS, the position that UWB positioning system obtains coalcutter is information PUWB；
Step (4) is by PINSWith PUWBIt carries out difference comparsion and obtains Δ P, be transmitted in filter using Δ P as input value, filtered
Information Δ P after waveINSAs feedback quantity, the three-dimensional location coordinates of coalcutter are corrected；
Step (5) judges whether coalcutter runs to end completely, if coalcutter does not run to end, UWB positioning system
System continues to calibrate coalcutter, constantly repeatedly step (4)；If coalcutter runs to end completely and shuts down, complete
Calibration to coal winning machine position executes below step (6)；
The base station UWB on step (6) shaft encoder control bracket is moved on the screw rod along the direction of feed, bracket
The distance moved on guide rail is equal with the coalcutter depth of cut；
Step (7), which is mined, is re-moved to another end of gate road, and UWB positioning system is calibrated again, is recycled
Above-mentioned steps (2)~(6)；
Step (8) recalibrates the base station UWB, determines the base station UWB three-dimensional coordinate when the base station UWB is 10 times mobile,
Repeat step (2)~(7).
Further, rectangularity is arranged in bracket, and 4 base stations UWB are tightly fixed to rectangular four vertex respectively, and 4
The height of a base station UWB should be at least 1 meter higher than the position of UWB positioning terminal sensor；Simultaneously in order to reduce position error, 4
The height on UWB base station distance ground is answered different.
Beneficial effect and advantage, by adopting the above-described technical solution, the present invention is by installing UWB on coalcutter fuselage
The base station UWB is arranged in positioning terminal sensor in gate road, and coalcutter is up to end, positions system by the UWB of uplink end
System calibration, coalcutter go downwards to end, are calibrated, are formed to coalcutter " knife one calibration " by the UWB positioning system of downlink end
End calibration, be able to solve using inertial navigation positioning there are accumulated errors constantly to increase, lead to coalcutter positioning accuracy not
Accurate problem；The base station UWB is placed on the guide rail of crossheading, coalcutter complete a cutting, the base station UWB on guide rail along
Coalcutter direction of feed moves a certain distance in time, so that coalcutter forms tacheometrical survey range in end and the base station UWB, it can
Non line of sight measurement bring error is enough effectively reduced, and can accurately calculate the coordinate after movement, reduces UWB positioning system
Error, improve coal winning machine position calibration precision.After calibration is completed in end, UWB is moved base station along gate road, under
Secondary calibration is ready, and the end calibration system to coalcutter " knife one calibration " is formed, and the positioning that can reduce coalcutter misses
Difference improves the positioning accuracy of coalcutter, easy to operate, practical.
Detailed description of the invention
Fig. 1 is of the invention based on UWB coalcutter face end calibration schematic diagram.
Fig. 2 is inertial navigation positioning device and UWB positioning terminal sensor wire schematic diagram of the invention.
Fig. 3 is bracket and UWB schematic view of the mounting position of the invention.
Fig. 4 is the base station UWB of the invention in roadway moving schematic diagram.
Fig. 5 is the schematic diagram of coalcutter end calibration of the invention.
Fig. 6 is of the invention based on UWB coalcutter face end calibration method flow chart.
In figure: 1, coalcutter fuselage；2, inertial navigation positioning device；3, UWB positioning terminal sensor；4, positioning device is anti-
Quick-fried shell；5, the base station UWB；6, bracket；7, guide rail；8, shaft encoder；9, computer；10, data microprocessing unit；11, it supports
Body；12, screw rod；13, shaft coupling；14, motor；15, gate road.
Specific embodiment
In order to keep the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, to the present invention
It is further elaborated.
One kind being based on UWB coalcutter face end calibrating installation, comprising: coalcutter fuselage 1, inertial navigation positioning device
2, UWB positioning terminal sensor 3, positioning device explosion-resistant enclosure 4, the base station UWB 5, bracket 6, guide rail 7, shaft encoder 8, computer
9, data microprocessing unit 10, supporter 11, screw rod 12, shaft coupling 13, motor 14, gate road 15；
Guide rail 7 based on UWB coalcutter face end calibrating installation is mounted in gate road 15, convenient for being based on UWB
Coalcutter face end calibrating installation is run in gate road 15；UWB positioning system includes that the base station UWB 5 and UWB positioning are whole
End sensor 3；The stationary positioned device explosion-resistant enclosure 4 on coalcutter fuselage 1, the interior installation inertia of positioning device explosion-resistant enclosure 4 are led
Positioning device 2 of navigating and UWB positioning terminal sensor 3；Inertial navigation positioning device 2, UWB positioning terminal sensor 3 and axis coding
The signal output end of device 8 is connected with the input terminal of data microprocessing unit 10, data microprocessing unit 10 and 9 phase of computer
Even, computer 9 is arranged in gate road 15；Bracket 6 is mounted on screw rod 12, and the base station UWB 5 is fixed on the frame 6, screw rod 12
It is connect with motor 14 by shaft coupling 13；Supporter 11 is placed between guide rail 7 and gate road 15, and screw rod 12 is arranged in guide rail
7 tops, shaft encoder 8 are mounted on motor 14.
The base station UWB 5 and UWB positioning terminal 3 structures of sensor are identical, are UWB sensor.
A kind of calibration method based on UWB coalcutter face end calibrating installation, specific steps are as follows:
Supporter 11 is uniformly placed on the gate road of underground coal mine two sides according to the actual environment of mine by step (1)
15 recess fixes guide rail 7 on supporter 11, and ensures that two side rails 7 are in same plane；On two side rails 7
The bracket 6 is installed, is tightly fastened 4 base stations UWB 5 respectively on the frame 6；
Step (2) establishes coordinate system according to regional environment, determines the three-dimensional coordinate of each base station UWB 5, utilizes laser ranging
Instrument is proofreaded；The practical three-dimensional coordinate in the base station UWB 5 is input in computer, and networking is carried out to UWB positioning system；
For step (3) coalcutter in cutting motion process, inertial navigation positioning device 2 positions coalcutter, when adopting
When coal machine is moved to apart from 5~10 meters of 15 end of gate road, start UWB positioning system, by 2 He of inertial navigation positioning device
UWB positioning system positions simultaneously, and the data of acquisition are respectively transmitted to computer, are resolved by algorithm, inertial navigation positioning dress
Set the location information P of 2 acquisition coalcuttersINS, the position that UWB positioning system obtains coalcutter is information PUWB；
Step (4) is by PINSWith PUWBIt carries out difference comparsion and obtains Δ P, be transmitted in filter using Δ P as input value, filtered
Information Δ P after waveINSAs feedback quantity, the three-dimensional location coordinates of coalcutter are corrected；
Step (5) judges whether coalcutter runs to end completely, if coalcutter does not run to end, UWB positioning system
System continues to calibrate coalcutter, constantly repeatedly step (4)；If coalcutter runs to end completely and shuts down, complete
Calibration to coal winning machine position executes below step (6)；
The base station UWB 6 that step (6) shaft encoder 8 controls on bracket 6 is moved on the screw rod 12 along the direction of feed
Dynamic, the distance that bracket 6 moves on guide rail 7 is equal with the coalcutter depth of cut；
Step (7), which is mined, is re-moved to another end of gate road, and UWB positioning system is calibrated again, is recycled
Above-mentioned steps (2)~(6)；
Step (8) recalibrates the base station UWB 5 when the base station UWB 5 is 10 times mobile, determines that the base station UWB 5 is three-dimensional and sits
Mark repeats step (2)~(7).
Further, rectangularity is arranged in bracket 6, and 4 base stations UWB 5 are tightly fixed to rectangular four vertex respectively,
The height of 4 base stations UWB 5 should be at least 1 meter higher than the position of UWB positioning terminal sensor 3；Simultaneously in order to reduce position error, 4
Height of a base station UWB 5 apart from ground is answered different.
With reference to the accompanying drawing and specific embodiment is further described application principle of the invention.
By Fig. 1, Fig. 2, Fig. 3 and Fig. 4 it is found that including coalcutter fuselage based on UWB coalcutter face end calibrating installation
1, inertial navigation positioning device 2, UWB positioning terminal sensor 3, positioning device explosion-resistant enclosure 4, the base station UWB 5, bracket 6, guide rail
7, shaft encoder 8, computer 9, data microprocessing unit 10, supporter 11, screw rod 12, shaft coupling 13, motor 14, gate road
15；The positioning device explosion-resistant enclosure 2 is fixed on the coalcutter fuselage 1, in the positioning device explosion-resistant enclosure 2 described in installation
Inertial navigation positioning device 2 and the UWB positioning terminal sensor 3；The inertial navigation positioning device 2, UWB positioning are eventually
Hold 3 sensors, the shaft encoder 8 to be connected with the data microprocessing unit 10, the data microprocessing unit 10 with it is described
Computer is connected；The base station UWB 5 is fixed on the bracket 6, and the bracket 6 is mounted on the screw rod 12, the screw rod
12 are connect with the motor 14 by the shaft coupling 13, and the supporter 11 places 7 lower section of guide rail, 12 bar of screw rod
It is arranged above the guide rail 7, is arranged in the gate road 15 in the guide rail 7, the shaft encoder 8 is mounted on described
On motor 14.
Rectangularity is arranged in the bracket 6, and 4 base stations UWB 5 are tightly fixed to rectangular four vertex respectively, and 4
The height of a base station UWB 5 should be at least 1 meter higher than the position of UWB positioning terminal sensor 3；Simultaneously in order to reduce position error, 4
Height of a base station UWB 5 apart from ground is answered different；The supporter 11 is placed between guide rail 7 and gate road 15,
It prevents 15 out-of-flatness of gate road and leads to the appearance position deviation in moving process of the base station UWB 5, to influence determining for coalcutter
Position；The shaft encoder 8 controls bracket 6 and moves on screw rod 12, according to the initial coordinate of the base station UWB 5 and the base station UWB 5
Distance is moved integrally, can quickly determine the actual coordinate of the mobile base station UWB 5；The base station UWB 5 of 15 two sides of gate road replaces
It is mobile, the position coordinates of coalcutter can be timely calibrated, accumulated error caused by reducing because of inertial navigation drift.
As shown in figure 4, the UWB positioning terminal sensor 3 and the base station UWB 5 carry out networking, distance measurement result is defeated
Enter into location model, calculates the three dimensional local information P of coalcutterUWB, inertial navigation positioning system passes through algorithm at the same time
Resolving obtains the three dimensional local information P of coalcutterINS, pass through PUWBAnd PINSThe location error Δ P for calculating coalcutter, Δ P is made
It is sent in filter for input value, obtains coal winning machine position error estimate Δ P by filteringINS, then the data obtained fed back
To inertial navigation positioning device, pass through PINSWith Δ PINSDifference calculate ability coalcutter calibration after position.In location model,
4 base stations UWB 5 in the gate road 15 are surveyed with the UWB positioning terminal sensor 3 using the two-way flight time
Away from the distance between the UWB positioning terminal sensor 3 and the base station UWB 5 data on acquisition coalcutter utilize the UWB
The known location coordinate of base station 5 calculates the location information P of coalcutter using multidimensional calibration algorithm (MDS)UWB。
Shown in Fig. 5, UWB coalcutter face end calibration method flow chart, key step are as follows:
The supporter 11 is uniformly placed on described in underground coal mine two sides by step (1) according to the actual environment of mine
The recess of gate road 15 fixes the guide rail 7 on the supporter 11, and ensures that guide rail 7 described in two sides is in same
In plane；The bracket 6 is installed on the guide rail 7 described in two sides, is tightly fastened 4 base stations UWB respectively on the bracket 6
5；
Step (2) establishes coordinate system according to regional environment, determines the three-dimensional coordinate of each base station UWB 5, utilizes laser
Rangefinder is proofreaded；The practical three-dimensional coordinate in the base station UWB 5 is input in computer, and group is carried out to UWB positioning system
Net；
For step (3) coalcutter in cutting motion process, the inertial navigation positioning device 2 positions coalcutter,
When coalcutter is moved to apart from 5~10 meters of 15 end of gate road, start UWB positioning system, by the inertial navigation
Positioning device 2 and the UWB positioning system position simultaneously, the data of acquisition are respectively transmitted to the computer 9, by algorithm
It resolves, the inertial navigation positioning device 2 obtains the location information P of coalcutterINS, UWB positioning system obtains the position of coalcutter
For information PUWB；
Step (4) is by PINSWith PUWBIt carries out difference comparsion and obtains Δ P, be transmitted in filter using Δ P as input value, filtered
Information Δ P after waveINSAs feedback quantity, the three-dimensional location coordinates of coalcutter are corrected；
Step (5) judges whether coalcutter runs to end completely, if coalcutter does not run to end, UWB positioning system
System continues to calibrate coalcutter, constantly repeatedly step (4)；If coalcutter runs to end completely and shuts down, complete
Calibration to coal winning machine position executes below step (6)；
(6) shaft encoder 8 controls on the bracket 6 base station UWB 5 on the screw rod 12 along the side of feed
To movement, the distance that the bracket 6 moves on the guide rail 7 is equal with the coalcutter depth of cut；
(7) it mines and is re-moved to another end of gate road, UWB positioning system is calibrated again, is recycled above-mentioned
Step (2)~(6)；
(8) step (8) recalibrates the base station UWB 5, determines institute when the base station UWB 5 is 10 times mobile
5 three-dimensional coordinate of the base station UWB is stated, step (2)~(7) are repeated.
The foregoing is merely preferable specific embodiments of the invention, but protection scope of the present invention is not limited to
This, anyone skilled in the art in the technical scope disclosed by the present invention, the variation that can readily occur in or replaces
It changes, should be covered by the protection scope of the present invention.
Claims (4)
1. one kind is based on UWB coalcutter face end calibrating installation, it is characterized in that: including: that coalcutter fuselage, inertial navigation are fixed
Position device, UWB positioning terminal sensor, positioning device explosion-resistant enclosure, the base station UWB, bracket, guide rail, shaft encoder, computer,
Data microprocessing unit, supporter, screw rod, shaft coupling, motor, gate road；Based on UWB coalcutter face end calibration cartridge
The guide rail set is mounted in gate road, convenient for being run in gate road based on UWB coalcutter face end calibrating installation；
UWB positioning system includes the base station UWB and UWB positioning terminal sensor；The stationary positioned device explosion-resistant enclosure on coalcutter fuselage,
Installation inertial navigation positioning device and UWB positioning terminal sensor in positioning device explosion-resistant enclosure；Inertial navigation positioning device,
The signal output end of UWB positioning terminal sensor and shaft encoder is connected with the input terminal of data microprocessing unit, and data are micro-
Processing unit is connected with computer, and computer installation is in gate road；Bracket is mounted on screw rod, and the base station UWB is fixed on branch
On frame, screw rod is connect with motor by shaft coupling；Supporter is placed between guide rail and gate road, and screw rod is arranged on guide rail
Side, shaft encoder are mounted on motor.
2. it is according to claim 1 a kind of based on UWB coalcutter face end calibrating installation, it is characterized in that: described
The base station UWB is identical with UWB positioning terminal sensor structure, is UWB sensor.
3. a kind of method based on UWB coalcutter face end calibrating installation described in claim 1 is used, it is characterized in that:
Specific steps are as follows:
Supporter is uniformly placed on the recess of the gate road of underground coal mine two sides according to the actual environment of mine by step (1)
Place, fixes guide rail, and ensure that two side rails are in same plane on supporter；The bracket is installed on two side rails,
It is tightly fastened 4 base stations UWB respectively on bracket；
Step (2) establishes coordinate system according to regional environment, determines the three-dimensional coordinate of each base station UWB, using laser range finder into
Row check and correction；The practical three-dimensional coordinate in the base station UWB is input in computer, and networking is carried out to UWB positioning system；
For step (3) coalcutter in cutting motion process, inertial navigation positioning device positions coalcutter, when coalcutter is transported
When moving apart from 5~10 meters of gate road end, start UWB positioning system, by inertial navigation positioning device and UWB positioning system
It positions simultaneously, the data of acquisition is respectively transmitted to computer, are resolved by algorithm, inertial navigation positioning device obtains coalcutter
Location information PINS, the position that UWB positioning system obtains coalcutter is information PUWB；
Step (4) is by PINSWith PUWBIt carries out difference comparsion and obtains Δ P, be transmitted in filter using Δ P as input value, after filtering
Information Δ PINSAs feedback quantity, the three-dimensional location coordinates of coalcutter are corrected；
Step (5) judges whether coalcutter runs to end completely, if coalcutter does not run to end, UWB positioning system after
It is continuous that coalcutter is calibrated, continuous repeatedly step (4)；If coalcutter runs to end completely and shuts down, complete to adopting
The calibration that coal seat in the plane is set executes below step (6)；
The base station UWB on step (6) shaft encoder control bracket is moved on screw rod along the direction of feed, and bracket is on guide rail
Mobile distance is equal with the coalcutter depth of cut；
Step (7), which is mined, is re-moved to another end of gate road, and UWB positioning system is calibrated again, is recycled above-mentioned
Step (2)~(6)；
Step (8) recalibrates the base station UWB, determines the base station UWB three-dimensional coordinate when the base station UWB is 10 times mobile, repeats
Step (2)~(7).
4. a kind of method based on UWB coalcutter face end calibrating installation according to claim 3, it is characterized in that:
Rectangularity is arranged in bracket, and 4 base stations UWB are tightly fixed to rectangular four vertex respectively, 4 UWB locating base stations
Height should be at least 1 meter higher than the position of the UWB positioning terminal；Simultaneously in order to reduce position error, 4 base stations UWB away from
Height from the ground is answered different.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110736458A (en) * | 2019-12-06 | 2020-01-31 | 中国矿业大学(北京) | Heading machine autonomous navigation system and method based on dead reckoning |
| CN110989580A (en) * | 2019-11-25 | 2020-04-10 | 国网上海市电力公司 | Positioning control system of conveyor for cable laying in tunnel |
| CN112033399A (en) * | 2020-09-08 | 2020-12-04 | 太原理工大学 | Positioning method for multi-signal fusion of coal mining machine |
| CN112362046A (en) * | 2020-11-24 | 2021-02-12 | 江苏联成开拓集团有限公司 | Personnel positioning device based on UWB and inertial navigation fusion technology |
| CN112360457A (en) * | 2020-12-11 | 2021-02-12 | 深圳市翌日科技有限公司 | Coal mining machine positioning method based on triangular coal cutting principle |
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