CN110160557B - Two-dimensional position precision calibration method and system for inertial navigation system of heading machine - Google Patents
Two-dimensional position precision calibration method and system for inertial navigation system of heading machine Download PDFInfo
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Abstract
The invention discloses a two-dimensional position precision calibration method and a two-dimensional position precision calibration system for an inertial navigation system of a heading machine, wherein the method comprises the following steps: determining a reference direction, setting a total station at a designated position by taking the reference direction as a reference, and simultaneously controlling the heading machine to travel at a preset speed along the designated direction; setting a characteristic point on the tunneling machine, controlling the total station to acquire a first two-dimensional plane position coordinate of the characteristic point at a preset time point, and simultaneously controlling an inertial navigation system of the tunneling machine to acquire a second two-dimensional plane position coordinate of the tunneling machine at the same time point as the total station; and analyzing the data by analyzing the first two-dimensional plane position coordinates and the second two-dimensional plane position coordinates, and evaluating the two-dimensional positioning accuracy of the tested inertial navigation system. According to the invention, the accuracy of the positioning of the inertial navigation system for the heading machine in centimeter level can be calibrated by utilizing the accuracy of the gyroscope north-seeking theodolite in angle second level detection and the accuracy of the total station in millimeter level detection.
Description
Technical Field
The invention relates to the field of position accuracy calibration, in particular to a two-dimensional position accuracy calibration method and system for an inertial navigation system of a heading machine.
Background
The large amount of dust, noise and the great potential safety hazard generated in the coal mine roadway cutting process bring urgent requirements to the automation and unmanned operation of the heading machine, wherein the automatic navigation technology of the heading machine becomes one of key technologies. The inertial navigation technology well solves the problem of environmental adaptability of the photoelectric navigation technology of the underground coal mine heading machine, so that the inertial navigation technology becomes a research hot spot in the industry in recent years.
The tunnel boundary deviation required by the coal mine tunnel forming standard is not more than-25 mm-150 mm, the space positioning detection precision of the heading machine is up to the centimeter level in consideration of the control precision of the heading machine and the deviation amplifying effect of the cantilever, and the section forming precision required by the standard can be realized only when the gesture and the course detection precision reach the angle classification.
In other application fields, vehicle-mounted test verification and calibration of the positioning accuracy of an inertial navigation system with satellite positioning are generally adopted, or methods such as terrain matching or mileage calibration are adopted, but centimeter-level accuracy verification is difficult to carry out, or only travel distance verification can be carried out, but two-dimensional plane positioning accuracy verification cannot be carried out, which is required by navigation positioning of a heading machine.
Disclosure of Invention
The invention aims to avoid the defects of the prior art and provide a two-dimensional position precision calibration method and system for an inertial navigation system of a heading machine.
The invention can be realized by adopting the following technical measures, and designs a two-dimensional position precision calibration method of an inertial navigation system of a heading machine, which comprises the following steps: determining a reference direction, setting a total station at a designated position by taking the reference direction as a reference, and simultaneously controlling the heading machine to travel at a preset speed along the designated direction; setting a characteristic point on the tunneling machine, controlling the total station to acquire a first two-dimensional plane position coordinate of the characteristic point at a preset time point, and simultaneously controlling an inertial navigation system of the tunneling machine to acquire a second two-dimensional plane position coordinate of the tunneling machine at the same time point as the total station; and analyzing data by analyzing the first two-dimensional plane position coordinates acquired by the total station and the second two-dimensional plane position coordinates acquired by the inertial navigation system of the heading machine, and evaluating the two-dimensional positioning accuracy of the inertial navigation system.
The step of determining the reference direction further comprises the step of determining the north-right direction through a gyroscopic north-seeking theodolite.
Wherein, a gyro north-seeking theodolite is arranged at O 1 ，O 1 N 1 For the north direction of north seeker, O 1 E 1 Is eastern to the same; total station is located at o 1 O when the gyro north-seeking theodolite and the total station are mutually aligned 1 、o 1 Connecting line relative to gyro north-seeking theodolite north-righting direction O 1 N 1 The included angle of (A) is theta, relative to the north direction O of the total station 1 N 2 Included angle of (a)When the total station horizontal angle β=θ is set at this time, the reference direction and the measurement standard of the total station are set to the north direction.
Wherein, in the step of evaluating the two-dimensional positioning accuracy of the tested inertial navigation system, the method comprises the steps of:
design (x) i,t ,y i,t )、(x i+1,t ,y i+1,t )、...，(x i+n,t ,y i+n,t ) For a first two-dimensional plane position coordinate of n test positions distributed on a straight line track traveled by the heading machine, (x) i,I ,y i,I )、(x i+1,I ,y i+1,I )、...，(x i+n,I ,y i+n,I ) And the corresponding second two-dimensional plane position coordinates are obtained, the fitted straight line expressions are respectively,
y t ＝k t ·x t +b t ；
y I ＝k I ·x I +b I ；
the included angle between the sensitive axis of the inertial navigation system of the heading machine and the axial direction of the heading machine is,
α＝arctank t -arctank I ；
the inertial navigation system measurements should be corrected to
Inertial navigation system at o 1 X 1 And o 1 Y 1 The positional deviations of the directions are respectively
Δx i ＝x i,t -x i,I ′，i＝1,2,…,n
And
Δy i ＝y i,t -y i,I ′，i＝1,2,…,n
the inertial navigation system is at o 1 X 1 And o 1 Y 1 The mean value of the positioning deviation of the directions is respectively
Inertial navigation system at o 1 X 1 And o 1 Y 1 Standard deviations of the positioning deviations of the directions are respectively
The positioning accuracy of the inertial navigation system to be tested can be calibrated by using the formulas (1), (2), (3) and (4).
The invention can be realized by adopting the following technical measures, and designs a two-dimensional position precision calibration system of an inertial navigation system of a heading machine, which comprises the following steps: the system comprises a gyro north-seeking theodolite, a total station and a data analysis device; the gyro north-seeking theodolite is used for determining a reference direction and determining the position of the total station according to the reference direction; the total station is used for regularly acquiring the first two-dimensional plane position coordinate in the moving process of the heading machine, and simultaneously the inertial navigation system of the heading machine acquires the second two-dimensional plane position coordinate of the heading machine and sends the first two-dimensional plane position coordinate and the second two-dimensional plane position coordinate information to the data analysis device; the data analysis device performs data analysis according to the first two-dimensional plane position coordinate and the second two-dimensional plane position coordinate information, and evaluates the two-dimensional positioning accuracy of the inertial navigation system.
The gyro north-seeking theodolite enters a measuring program after rough north-seeking, centering and latitude input operation, and aims at the total station after the north-seeking process is finished, and the measured angle is the north azimuth angle of the total station.
Compared with the prior art, the two-dimensional position precision calibration method of the inertial navigation system of the heading machine comprises the following steps: determining a reference direction, setting a total station at a designated position by taking the reference direction as a reference, and simultaneously controlling the heading machine to travel at a preset speed along the designated direction; setting a characteristic point on the tunneling machine, controlling the total station to acquire a first two-dimensional plane position coordinate of the characteristic point at a preset time point, and simultaneously controlling an inertial navigation system of the tunneling machine to acquire a second two-dimensional plane position coordinate of the tunneling machine at the same time point as the total station; and analyzing data by analyzing the first two-dimensional plane position coordinates acquired by the total station and the second two-dimensional plane position coordinates acquired by the inertial navigation system of the heading machine, and evaluating the two-dimensional positioning accuracy of the inertial navigation system to be tested. According to the invention, the accuracy of the positioning of the inertial navigation system for the heading machine in centimeter level can be calibrated by utilizing the accuracy of the gyroscope north-seeking theodolite in angle second level detection and the accuracy of the total station in millimeter level detection.
Drawings
FIG. 1 is a schematic flow chart of a two-dimensional position accuracy calibration method of an inertial navigation system of a heading machine;
FIG. 2 is a schematic diagram of a measurement reference transmission process in a two-dimensional position accuracy calibration method of an inertial navigation system of a heading machine;
FIG. 3 is a schematic structural diagram of a two-dimensional position accuracy calibration system of an inertial navigation system of a heading machine.
Detailed Description
The technical scheme of the present invention is described in more detail below in connection with the specific embodiments. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, shall fall within the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a two-dimensional position accuracy calibration method of an inertial navigation system of a heading machine. The method comprises the following steps:
s110: and determining a reference direction, setting a total station at a designated position by taking the reference direction as a reference, and simultaneously controlling the heading machine to travel at a preset speed along the designated direction.
In the invention, the reference direction is determined by taking the north direction determined by the gyro north-seeking theodolite as the reference direction. The common gyro north-seeking theodolite is characterized in that a high-precision biaxial power tuning gyro autonomously determines the true north direction value of an attached carrier by measuring the rotation angular velocity of the earth, and the measuring process is not interfered and influenced by an external magnetic field or other environments. In addition, it can also combine acceleration to make horizontal angle measurement and correction.
In the actual operation process, firstly, a gyro north-seeking theodolite and a total station are erected and respectively adjusted horizontally; controlling the gyro north-seeking theodolite to execute north-seeking operation; and after the north seeking process of the gyro north seeking theodolite is finished, operating the gyro north seeking theodolite and the total station to mutually aim and align, and inputting a horizontal angle value displayed by the gyro north seeking theodolite as a horizontal angle of the total station to finish preparation work.
The calibration process is the process of reference unification and reference transmission, and the reference transmission process is measured in the invention as shown in figure 2.
Specifically, a gyro north-seeking theodolite is arranged at O 1 ，O 1 N 1 For the north direction of north seeker, O 1 E 1 Is eastern to the same; total station is located at o 1 O when the gyro north-seeking theodolite and the total station are mutually aligned 1 、o 1 Connecting line relative to gyro north-seeking theodolite north-righting direction O 1 N 1 The included angle of (A) is theta, relative to the north direction O of the total station 1 N 2 When the total station horizontal angle β=θ is set, the reference direction and the measurement reference of the total station are set to be the north direction.
S120: the method comprises the steps of setting a characteristic point on a tunneling machine, controlling a total station to acquire a first two-dimensional plane position coordinate of the characteristic point at a preset time point, and simultaneously controlling an inertial navigation system of the tunneling machine to acquire a second two-dimensional plane position coordinate of the tunneling machine at the same time point as the total station.
In the invention, in order to facilitate test and calibration, a test trolley carrying an inertial navigation system is generally adopted to replace a heading machine. The test trolley is convenient and energy-saving to drive, and can simulate the operation of the heading machine, so that the invention can well replace the heading machine to calibrate the two-dimensional position precision of the inertial navigation system.
Driving a test trolley loaded with the inertial navigation system to be tested to advance at a speed of about 5-10 m/min along a preset linear track, and stopping after about 1 min; and performing running and stopping operations for a plurality of times, and collecting the current two-dimensional plane position coordinates of the test trolley through the total station after the test trolley stops.
Inertial navigation system with tested trolley at o 2 The sensitive axis directions are o respectively 2 Y 2 And o 2 X 2 Its own north direction is o 2 N 2 ，o 2 E 2 For its east direction, o 2 v is the travelling direction, which is the sensitive axis o 2 Y 2 The included angle between the two is gamma.
Only the position detection accuracy of the inertial navigation system in the two-dimensional plane is considered, and the position change in the height direction thereof can be ignored. And detecting the spatial position coordinates of a specific point on the shell of the inertial navigation system by using the total station with the set horizontal angle.
Operating the total station to aim at a preselected characteristic point on a shell of the inertial navigation system to be measured, measuring the two-dimensional plane position coordinate of the characteristic point, and recording the characteristic point as a first two-dimensional plane position coordinate; a prism special for the total station can be adopted for improving the precision. The total station collects a plurality of groups of first two-dimensional plane position coordinates, and simultaneously records second two-dimensional position coordinates output by an inertial navigation system on the test trolley. The two-dimensional plane position coordinates are preferably acquired in at least 10 sets.
S130: and analyzing data by analyzing the first two-dimensional plane position coordinates acquired by the total station and the second two-dimensional plane position coordinates acquired by the inertial navigation system of the heading machine, and evaluating the two-dimensional positioning accuracy of the inertial navigation system to be tested.
And after the coordinate acquisition is completed, carrying out data analysis on the first two-dimensional plane position coordinate and the second two-dimensional plane position coordinate.
Specifically, let (x) i,t ,y i,t )、(x i+1,t ,y i+1,t )、...，(x i+n,t ,y i+n,t ) For a first two-dimensional plane position coordinate of n test positions distributed on a straight line track traveled by the heading machine, (x) i,I ,y i,I )、(x i+1,I ,y i+1,I )、...，(x i+n,I ,y i+n,I ) And the corresponding second two-dimensional plane position coordinates are obtained, the fitted straight line expressions are respectively,
y t ＝k t ·x t +b t ；
y I ＝k I ·x I +b I ；
the included angle between the sensitive axis of the inertial navigation system of the heading machine and the axial direction of the heading machine is,
α＝arctank t -arctank I ；
the inertial navigation system measurements should be corrected to
Inertial navigation system at o 1 X 1 And o 1 Y 1 The positional deviations of the directions are respectively
Δx i ＝x i,t -x i,I ′，i＝1,2,…,n
And
Δy i ＝y i,t -y i,I ′，i＝1,2,…,n
the inertial navigation system is at o 1 X 1 And o 1 Y 1 The mean value of the positioning deviation of the directions is respectively
Inertial navigation system at o 1 X 1 And o 1 Y 1 Standard deviations of the positioning deviations of the directions are respectively
The positioning accuracy of the inertial navigation system to be tested can be calibrated by using the formulas (1), (2), (3) and (4).
Compared with the prior art, the two-dimensional position precision calibration method of the inertial navigation system of the heading machine comprises the following steps: determining a reference direction, setting a total station at a designated position by taking the reference direction as a reference, and simultaneously controlling the heading machine to travel at a preset speed along the designated direction; setting a characteristic point on the tunneling machine, controlling the total station to acquire a first two-dimensional plane position coordinate of the characteristic point at a preset time point, and simultaneously controlling an inertial navigation system of the tunneling machine to acquire a second two-dimensional plane position coordinate of the tunneling machine at the same time point as the total station; and analyzing data by analyzing the first two-dimensional plane position coordinates acquired by the total station and the second two-dimensional plane position coordinates acquired by the inertial navigation system of the heading machine, and evaluating the two-dimensional positioning accuracy of the inertial navigation system to be tested. According to the invention, the accuracy of the positioning of the inertial navigation system for the heading machine in centimeter level can be calibrated by utilizing the accuracy of the gyroscope north-seeking theodolite in angle second level detection and the accuracy of the total station in millimeter level detection.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a two-dimensional position accuracy calibration system of an inertial navigation system of a heading machine. The apparatus 200 comprises:
a gyro north seeker 1, a total station 2 and a data analysis device 3; the gyro north-seeking theodolite 1 is used for determining a reference direction and determining the position of the total station 2 according to the reference direction; the total station 2 is used for regularly acquiring a first two-dimensional plane position coordinate in the moving process of the heading machine 10, and meanwhile, the inertial navigation system 11 of the heading machine 10 acquires a second two-dimensional plane position coordinate of the heading machine 10 and sends the first two-dimensional plane position coordinate and the second two-dimensional plane position coordinate information to the data analysis device 3; the data analysis device 3 performs data analysis based on the first two-dimensional plane position coordinates and the second two-dimensional plane position coordinates information, and evaluates the two-dimensional positioning accuracy of the inertial navigation system 11.
The gyro north-seeking theodolite 1 enters a measuring program after rough north-seeking, centering and latitude input operation, and aims the gyro north-seeking theodolite 1 at the total station 2 after the north-seeking process is finished, and the measured angle is the north azimuth angle of the total station 2.
Specifically, a gyro north-seeking theodolite is arranged at O 1 ，O 1 N 1 For the north direction of north seeker, O 1 E 1 Is eastern to the same; total station is located at o 1 O when the gyro north-seeking theodolite and the total station are mutually aligned 1 、o 1 Connecting line relative to gyro north-seeking theodolite north-righting direction O 1 N 1 The included angle of (A) is theta, relative to the north direction O of the total station 1 N 2 When the total station horizontal angle β=θ is set, the reference direction and the measurement reference of the total station are set to be the north direction. As shown in fig. 2.
Driving a test trolley loaded with the inertial navigation system to be tested to advance at a speed of about 5-10 m/min along a preset linear track, and stopping after about 1 min; and performing running and stopping operations for a plurality of times, and collecting the current two-dimensional plane position coordinates of the test trolley through the total station after the test trolley stops.
Inertial navigation system with tested trolley at o 2 The sensitive axis directions are o respectively 2 Y 2 And o 2 X 2 Its own north direction is o 2 N 2 ，o 2 E 2 For its east direction, o 2 v is the travelling direction, which is the sensitive axis o 2 Y 2 The included angle between the two is gamma.
Only the position detection accuracy of the inertial navigation system in the two-dimensional plane is considered, and the position change in the height direction thereof can be ignored. And detecting the spatial position coordinates of a specific point on the shell of the inertial navigation system by using the total station with the set horizontal angle.
Operating the total station to aim at a preselected characteristic point on a shell of the inertial navigation system to be measured, measuring the two-dimensional plane position coordinate of the characteristic point, and recording the characteristic point as a first two-dimensional plane position coordinate; a prism special for the total station can be adopted for improving the precision. The total station collects a plurality of groups of first two-dimensional plane position coordinates, and simultaneously records second two-dimensional position coordinates output by an inertial navigation system on the test trolley. The two-dimensional plane position coordinates are preferably acquired in at least 10 sets.
And after the coordinate acquisition is completed, carrying out data analysis on the first two-dimensional plane position coordinate and the second two-dimensional plane position coordinate.
Specifically, let (x) i,t ,y i,t )、(x i+1,t ,y i+1,t )、...，(x i+n,t ,y i+n,t ) For a first two-dimensional plane position coordinate of n test positions distributed on a straight line track traveled by the heading machine, (x) i,I ,y i,I )、(x i+1,I ,y i+1,I )、...，(x i+n,I ,y i+n,I ) And the corresponding second two-dimensional plane position coordinates are obtained, the fitted straight line expressions are respectively,
y t ＝k t ·x t +b t ；
y I ＝k I ·x I +b I ；
the included angle between the sensitive axis of the inertial navigation system of the heading machine and the axial direction of the heading machine is,
α＝arctank t -arctank I ；
the inertial navigation system measurements should be corrected to
Inertial navigation system at o 1 X 1 And o 1 Y 1 The positional deviations of the directions are respectively
Δx i ＝x i,t -x i,I ′，i＝1,2,…,n
And
Δy i ＝y i,t -y i,I ′，i＝1,2,…,n
the inertial navigation system is at o 1 X 1 And o 1 Y 1 The mean value of the positioning deviation of the directions is respectively
Inertial navigation system at o 1 X 1 And o 1 Y 1 Standard deviations of the positioning deviations of the directions are respectively
The positioning accuracy of the inertial navigation system to be tested can be calibrated by using the formulas (1), (2), (3) and (4).
Compared with the prior art, the two-dimensional position precision calibration system of the inertial navigation system of the heading machine comprises the following components: the system comprises a gyro north-seeking theodolite, a total station and a data analysis device; the gyro north-seeking theodolite is used for determining a reference direction and determining the position of the total station according to the reference direction; the total station is used for regularly acquiring the first two-dimensional plane position coordinate in the moving process of the heading machine, and simultaneously the inertial navigation system of the heading machine acquires the second two-dimensional plane position coordinate of the heading machine and sends the first two-dimensional plane position coordinate and the second two-dimensional plane position coordinate information to the data analysis device; the data analysis device performs data analysis according to the first two-dimensional plane position coordinate and the second two-dimensional plane position coordinate information, and evaluates the two-dimensional positioning accuracy of the inertial navigation system. According to the invention, the accuracy of the positioning of the inertial navigation system for the heading machine in centimeter level can be calibrated by utilizing the accuracy of the gyroscope north-seeking theodolite in angle second level detection and the accuracy of the total station in millimeter level detection.
The foregoing is only the embodiments of the present invention, and therefore, the patent scope of the invention is not limited thereto, and all equivalent structures or equivalent processes using the descriptions of the present invention and the accompanying drawings, or direct or indirect application in other related technical fields, are included in the scope of the invention.
Claims (5)
1. The two-dimensional position precision calibration method of the inertial navigation system of the heading machine is characterized by comprising the following steps of:
determining a reference direction, setting a total station at a designated position by taking the reference direction as a reference, and simultaneously controlling the heading machine to travel at a preset speed along the designated direction;
setting a characteristic point on a tunneling machine, controlling a total station to acquire a first two-dimensional plane position coordinate of the characteristic point at a preset time point, and simultaneously controlling an inertial navigation system of the tunneling machine to acquire a second two-dimensional plane position coordinate of the tunneling machine at the same time point as the total station;
analyzing data by analyzing a first two-dimensional plane position coordinate acquired by the total station and a second two-dimensional plane position coordinate acquired by an inertial navigation system of the heading machine, and evaluating the two-dimensional positioning accuracy of the inertial navigation system;
the step of evaluating the two-dimensional positioning accuracy of the inertial navigation system under test comprises the steps of:
design (x) i,t ,y i,t )、(x i+1,t ,y i+1,t )、…，(x i+n,t ,y i+n,t ) For a first two-dimensional plane position coordinate of n test positions distributed on a straight line track traveled by the heading machine, (x) i,I ,y i,I )、(x i+1,I ,y i+1,I )、…，(x i+n,I ,y i+n,I ) For the corresponding second two-dimensional plane position coordinates, the fitted straight line expression is dividedThe other of the two components is that,
y t ＝k t ·x t +b t ；
y I ＝k I ·x I +b I ；
the included angle between the sensitive axis of the inertial navigation system of the heading machine and the axial direction of the heading machine is,
α＝arctank t -arctank I ；
the inertial navigation system measurements should be corrected to
Inertial navigation system at o 1 X 1 And o 1 Y 1 The positional deviations of the directions are respectively
Δx i ＝x i,t -x i,I ′，i＝1,2,…,n
And
Δy i ＝y i,t -y i,I ′，i＝1,2,…,n
the inertial navigation system is at o 1 X 1 And o 1 Y 1 The mean value of the positioning deviation of the directions is respectively
Inertial navigation system at o 1 X 1 And o 1 Y 1 Standard deviations of the positioning deviations of the directions are respectively
The positioning accuracy of the inertial navigation system to be tested can be calibrated by using the formulas (1), (2), (3) and (4).
2. The method for calibrating two-dimensional position accuracy of an inertial navigation system of a heading machine according to claim 1, further comprising the step of determining a north-positive direction by a gyroscopic north-seeking theodolite in the step of determining a reference direction.
3. The method for calibrating the two-dimensional position accuracy of the inertial navigation system of the heading machine according to claim 2, wherein the gyroscopic north-seeking theodolite is arranged at O 1 ，O 1 N 1 For the north direction of north seeker, O 1 E 1 Is eastern to the same; total station is located at o 1 O when the gyro north-seeking theodolite and the total station are mutually aligned 1 、o 1 Connecting line relative to gyro north-seeking theodolite north-righting direction O 1 N 1 The included angle of (A) is theta, relative to the north direction O of the total station 1 N 2 When the total station horizontal angle β=θ is set, the reference direction and the measurement reference of the total station are set to be the north direction.
4. A two-dimensional position accuracy calibration system of an inertial navigation system of a heading machine, which is used for realizing the two-dimensional position accuracy calibration method of the inertial navigation system of the heading machine according to any one of claims 1 to 3, and is characterized by comprising the following steps: the system comprises a gyro north-seeking theodolite, a total station and a data analysis device; the gyro north-seeking theodolite is used for determining a reference direction and determining the position of the total station according to the reference direction; the total station is used for regularly acquiring the first two-dimensional plane position coordinate in the moving process of the heading machine, and simultaneously the inertial navigation system of the heading machine acquires the second two-dimensional plane position coordinate of the heading machine and sends the first two-dimensional plane position coordinate and the second two-dimensional plane position coordinate information to the data analysis device; the data analysis device performs data analysis according to the first two-dimensional plane position coordinate and the second two-dimensional plane position coordinate information, and evaluates the two-dimensional positioning accuracy of the inertial navigation system.
5. The two-dimensional position accuracy calibration system of the heading machine inertial navigation system according to claim 4, wherein the gyro north-seeking theodolite enters a measurement program after rough north-seeking, centering and latitude input operation, and the gyro north-seeking theodolite is aimed at a total station after the north-seeking process is finished, and the measured angle is the north azimuth angle of the total station.
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| CN113252044A (en) * | 2021-05-25 | 2021-08-13 | 中国煤炭科工集团太原研究院有限公司 | Method for calculating deviation of tunneling equipment body |
| CN114485582B (en) * | 2021-12-16 | 2023-09-26 | 山东科技大学 | Method for calibrating angles and distances of key points of excavator based on total station measurement |
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