CN110285810A - A kind of coalcutter autonomic positioning method and device based on inertial navigation data - Google Patents
A kind of coalcutter autonomic positioning method and device based on inertial navigation data Download PDFInfo
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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
- G01C21/10—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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The present invention provides a kind of coalcutter autonomic positioning method and device based on inertial navigation data, the described method includes: according to the inertia sensing instrument being mounted on coalcutter, measurement obtains the first location data of coalcutter under carrier coordinate system, wherein first location data includes: angular velocity of rotation value of the coalcutter in the translational acceleration and coalcutter under carrier coordinate system under carrier coordinate system；The initial valuation of speed and position to the translational acceleration angle value combination coalcutter in first location data carries out integral calculation and obtains the second location data under navigational coordinate system；And the first attitude matrix is constructed under carrier coordinate system, and carry out differential and obtain the second attitude matrix under navigational coordinate system；Inverse operation, which is carried out, according to second attitude matrix obtains attitude angle of the coalcutter under navigational coordinate system；Position of the coalcutter under the navigational coordinate system is determined according to second location data and the attitude angle.
Description
Technical field
The present invention relates to coal mine technical field of operation, autonomous more particularly, to a kind of coalcutter based on inertial navigation data
Localization method and device.
Background technique
Coal is the basic resource and the energy in China, is the important leverage of the national economic development, coal is when following longer
Interior will be China's main body energy.2014,38.7 hundred million tons of coal in China yield, account for about total output of primary energy
70%；The specific gravity that coal in China consumption accounts for non-renewable energy consumption is 65%, it is contemplated that the year two thousand twenty coal production capacity is about 40-42 hundred million
Ton.
Coal in China is exploited based on well work, and comprehensive mechanization production is the production method being currently widely used.Coal-getter
Make face there is " water, fire, gas, coal dust, top plate " five the Nature disaster, the moment threatens the life security of worker and occupation is good for
Health only frees people from working face, could thoroughly change this situation.
Coal working face it is intelligent, unmanned be realize safety of coal mines exploitation only way, be practice " nobody then
The key breakthrough point of the advanced security concepts of peace ".Coal mining robot high accuracy positioning in the enclosure space of underground, to determine appearance be its realization
The key technology of AUTONOMOUS TASK, corresponding coal mining equipment safety operation control are the brains of entire unmanned working face.
The U.S. and Australia maintain the leading position in terms of automating coal-mining technique research at present, mainly with the world JOY
For representative coal-cutting machinery manufacturer it is leading operation coalcutter is followed with coalcutter driver, bracket etc. and coalcutter be servo-actuated with machine
Automatic mode.Australia Commonwealth Scientific and Industrial Research Organisation (CSIR O) is proposed based on gyroscope guide-localization
The automation coal-mining method of (LASC technology).But still without automation coal mining application case unattended in coal working face.
It is domestic in recent years, due to safety of coal mines efficiently produce there is an urgent need to relying on National 863 plan, " technology is adopted in coal intelligence pick
With equipment " and the emphasis special project support such as National Development and Reform Committee's " comprehensive mechanized coal mining outfit intelligence system ", with Chinese coal section Gong Ji
Group has carried out the R&D work of automation Manless mining technology for more coal groups of representative, coal-cutting machinery manufacturer, colleges and universities etc..
The positioning of its coalcutter and working face cut-off key technology introduce foreign countries' LASC system, temporarily unrealized key equipment production domesticization.
A variety of methods are successively attempted to the position monitoring of coalcutter both at home and abroad, such as radio acoustic technology, pattern displacement
Monitoring technology, obliquity sensor technology, encoder and obliquity sensor combination technique etc., the measurement accuracy of these technologies compared with
It is low, far from the requirement for meeting fully mechanized mining automated mining.
There is no realize effectively to monitor the position of coalcutter in the world at present.
Summary of the invention
For the defect of the existing technology that cannot achieve and effectively monitored to the position of coalcutter, in a first aspect,
The present invention provides a kind of coalcutter autonomic positioning method based on inertial navigation data, which comprises
According to the inertia sensing instrument being mounted on coalcutter, measurement obtains the first positioning of coalcutter under carrier coordinate system
Data, wherein first location data includes: translational acceleration and coalcutter of the coalcutter under carrier coordinate system in carrier
Angular velocity of rotation value under coordinate system；
The first attitude matrix is constructed under carrier coordinate system, and is carried out differential and obtained the second posture square under navigational coordinate system
Battle array；
The initial of speed and position to the translational acceleration angle value combination coalcutter in first location data is estimated
Value carries out integral calculation and obtains the second location data under navigational coordinate system；
Inverse operation, which is carried out, according to second attitude matrix obtains attitude angle of the coalcutter under navigational coordinate system；
Position of the coalcutter under the navigational coordinate system is determined according to second location data and the attitude angle.
It is further, described that the first attitude matrix is constructed under carrier coordinate system, comprising:
The first attitude matrix is constructed by the initial state course angle of coalcutter, pitch angle and roll angle, passes through following formula structure
Build the first attitude matrix:WhereinIndicate n system and b system
Between rotate angle,Respectively indicate the three-dimensional system of coordinate between n system and b system
Under rotor shaft direction；If u is the rotating vector in n system, carrier is rotated around u, and rotation angle is β, l, m, and n is expressed as u in n
The projection of three rotor shaft directions in system；
Described includes: under first attitude matrix and the carrier coordinate system to first attitude matrix progress differential
Angular velocity of rotation value result of the product as the differential.
Further, second location data includes: that velocity amplitude and coalcutter of the coalcutter under navigational coordinate system are carrying
Shift value under body coordinate system.
Further, the inertia sensing instrument includes: the pendulum for measuring the translational acceleration angle value of first location data
The lasergyro of formula accelerometer and the angular velocity of rotation value for measuring first location data.
Further, in the speed to the translational acceleration angle value combination coalcutter in first location data and
Before the initial valuation progress integral calculation of position obtains the second location data under navigational coordinate system, the method also includes:
Error is carried out using angular velocity of rotation and translational acceleration of the Extended Kalman filter to first location data
Compensation.
Further, the direction cosines element in second attitude matrix will be obtained after differential as the element pair in matrix
Element in first attitude matrix is updated, speed and position using updated first attitude matrix combination coalcutter
The initial valuation set carries out integral calculation and obtains the second location data under navigational coordinate system.
Second aspect, the present invention provides a kind of freedom positioning device of coal-mining machine based on inertial navigation data, the dresses
It sets and includes:
Measurement module, for measuring and being adopted under carrier coordinate system according to the inertia sensing instrument being mounted on coalcutter
First location data of coal machine, wherein first location data includes: translational acceleration of the coalcutter under carrier coordinate system
With angular velocity of rotation value of the coalcutter under carrier coordinate system；
Integral operation module, for the speed to the translational acceleration angle value combination coalcutter in first location data
The initial valuation of degree and position carries out integral calculation and obtains the second location data under navigational coordinate system；
It differentiates module, for constructing the first attitude matrix under carrier coordinate system, and carries out differential and obtain navigation sitting
The second attitude matrix under mark system；
Inverse operation module obtains coalcutter under navigational coordinate system for carrying out inverse operation according to second attitude matrix
Attitude angle；
Position determination module, for determining coalcutter in the navigation according to second location data and the attitude angle
Position under coordinate system/.
Further, described differentiate constructs the first attitude matrix under carrier coordinate system described in module, comprising:
The first attitude matrix is constructed by the initial state course angle of coalcutter, pitch angle and roll angle, passes through following formula structure
Build the first attitude matrix:WhereinIndicate n system and b system
Between rotate angle,Respectively indicate the three-dimensional system of coordinate between n system and b system
Under rotor shaft direction；If u is the rotating vector in n system, carrier is rotated around u, and rotation angle is β, l, m, and n is expressed as u in n
The projection of three rotor shaft directions in system；
Described includes: under first attitude matrix and the carrier coordinate system to first attitude matrix progress differential
Angular velocity of rotation value result of the product as the differential.
Further, second location data includes: that velocity amplitude and coalcutter of the coalcutter under navigational coordinate system are carrying
Shift value under body coordinate system.
Further, the inertia sensing instrument includes: the pendulum for measuring the translational acceleration angle value of first location data
The lasergyro of formula accelerometer and the angular velocity of rotation value for measuring first location data.
The beneficial effects of the present invention are:
Product is dedicated to intelligent coal mine Manless mining field, tackles key problems for core key device technique, with fully mechanized mining
Based on equipment automation control, production scene practical factor is deeply considered, military inertial navigation core key technology is introduced, in conjunction with coal
Mine application actual demand characteristic possesses independent intellectual property right from inertia device, the system integration, software development, realizes that coalcutter is fixed
Position home-made equipment.The coalcutter autonomous positioning navigation of mating independent research design and the automatic cut-off of working face are core technology
Intelligent fully mechanized mining operation self- steering control module realizes that coal mine intelligence fully mechanized mining operation self- steering is mined.
Inertial navigation unit and corollary system are manufactured experimently in present invention independent research for the first time, realize core key equipment and technology state
Productionization reduces external core key technology dependency degree, realizes the target of total system and the device localization rate of parts and components 100%；
The present invention uses the high-precision inertial navigation technology of Beidou navigation positioning field for the first time, and independent research high-precision combines
Location algorithm；
The present invention researches and develops the data real time fusion process technology used and embedded system integrated technology, can be used by high-precision
Property navigation system, mileage gauge data synchronize, acquire, transmit, after carrying out integrated treatment to information, draw accurately three-dimensional space
Between coordinate information, realize coal working face information data three-dimensional visualization present.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of coalcutter autonomic positioning method based on inertial navigation data of the invention；
Fig. 2 is that the coalcutter that the present invention uses independently determines functional block diagram；
Fig. 3 is the functional block diagram for the lasergyro that the present invention uses；
Fig. 4 is the annular light path schematic diagram of lasergyro；
Fig. 5 is the functional block diagram for the pendulum type balance accelerometer that the present invention uses；
Fig. 6 is the pendulous accelerometer electromechanical component figure that the present invention uses；
Fig. 7 is the structural schematic diagram for the pendulous accelerometer that the present invention uses；
Fig. 8 is the schematic diagram of coalcutter fuselage attitude angle of the present invention；
Fig. 9 is the schematic diagram of coordinate transform of the present invention；
Conversion process schematic diagram of the Figure 10 between carrier coordinate system and navigational coordinate system of the invention；
Figure 11 is coalcutter autonomous positioning implementation process diagram of the present invention；
Figure 12 is a kind of structural schematic diagram of freedom positioning device of coal-mining machine based on inertial navigation data of the invention.
Specific embodiment
In being described below, for illustration and not for limitation, propose such as project equipment structure, interface, technology it
The detail of class, to understand thoroughly the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, omit to well-known device, circuit and
The detailed description of method, in case unnecessary details interferes description of the invention.
As shown in Figure 1, the invention discloses a kind of coalcutter autonomic positioning methods, which comprises
S1: according to the inertia sensing instrument being mounted on coalcutter, measurement obtains the first of coalcutter under carrier coordinate system
Location data, wherein first location data includes: that translational acceleration and coalcutter of the coalcutter under carrier coordinate system exist
Angular velocity of rotation value under carrier coordinate system；
S2: constructing the first attitude matrix under carrier coordinate system, and carries out differential and obtain the second appearance under navigational coordinate system
State matrix；
S3: speed and position to the translational acceleration angle value combination coalcutter in first location data it is initial
Valuation carries out integral calculation and obtains the second location data under navigational coordinate system；
S4: inverse operation is carried out according to second attitude matrix and obtains attitude angle of the coalcutter under navigational coordinate system；
S5: position of the coalcutter under the navigational coordinate system is determined according to second location data and the attitude angle
It sets.
As shown in Fig. 2, showing coalcutter autonomous positioning schematic diagram of the invention.
In step sl, by accelerometer, can measure obtain coalcutter in three directional acceleration of working face.Accelerate
It is a that degree meter measures the acceleration original value come under carrier coordinate systemb(t)=(abx(t),aby(t),abz(t))T, wherein abx
(t),aby(t),abz(t) be respectively accelerometer carrier coordinate system (b system) x-axis, y-axis, three directions of z-axis acceleration value,
abIt (t) is the column vector after transposition.
For gyroscope by the angular speed around three axis of orientation of coalcutter, the original value of the angular velocity of rotation measured is ωb(t)=
(ωbx(t),ωby(t),ωbz(t)), wherein ωbx(t),ωby(t),ωbzIt (t) is respectively gyroscope in carrier coordinate system (b
System) x-axis, y-axis, three directions of z-axis angular speed, wherein t is chronomere.
The ω that current time measurement obtains is indicated when the three direction axis angular rate of coalcutterb(t), it is first stored in system meter
In calculation machine, the platform speed of rotation called during subsequent coalcutter attitude reference is updated and calculated is the ω for lagging the momentb
(t)。
In embodiment, navigation accelerometer and laser gyro are directly installed on carrier.The angle measured with laser gyro
Velocity information subtracts the angular speed in the navigational coordinate system relative inertness space of calculating, obtains carrier coordinate system Relative Navigation coordinate system
Angular speed calculates attitude matrix using the information.Carrier coordinate system axial acceleration information can be transformed into navigational coordinate system axis
To, then carry out navigation calculating.Using attitude matrix element, posture and course information are extracted.Attitude matrix calculating, acceleration information
Coordinate transform, posture and course angle calculate the function that can replace the calculating navigation data of navigation platform.Calculate navigational coordinate system
Angular velocity information then teetotum square information on opposed platforms coordinate system.
In some illustrative embodiments, the inertia sensing instrument includes: for measuring the flat of first location data
Move the pendulous accelerometer of acceleration value and the lasergyro of the angular velocity of rotation value for measuring first location data.
As shown in figure 3, showing the functional block diagram of laser gyro used in the present invention.
The lasergyro passes through the difference on the frequency for measuring two-beam suitable, counterclockwise in rotating closed optical path, by frequency
Optical path angular velocity omega is calculated in difference.Closure optical path in, by same light source issue along clockwise direction and counterclockwise
The two-beam of transmission and the interference of light utilize the variation of detection phase difference or interference fringe, so that it may measurement closure optical path rotation angle
Speed omega.The primary element of lasergyro is ring laser, and ring laser is made of the quartz of triangle or square
Closure optical path composition, inside have one or several pipes equipped with mixed gas (helium-neon gas), two opaque reflecting mirrors
With a semitransparent mirror.Mixed gas is excited with high frequency electric source or DC power supply, generates one-wavelength laser.To maintain loop resonance,
The perimeter in circuit should be the integral multiple of optical wavelength.Laser is exported into circuit with semitransparent mirror, makes two beam Xiang Fanchuan through reflecting mirror
Defeated laser interference inputs the digital angular velocity signal proportional to output angle by photodetector and circuit.
Laser gyro forms ring resonator, i.e. closed circuit using three reflecting mirrors.Light of the laser tube along optical axis
Son is projected to two sides by lens M4 and M5, then respectively by M1→M2→M3And M3→M2→M1It is reflected from the other end, circuit
It is middle to form the opposite two-way light beam in the direction of propagation.For each light beam, phase difference is 2 Π when only returning to original place by a circle
The photon of integral multiple can just induce corresponding second generation photon, and be gradually increased with this rule, discontented for phase difference
The photon of 2 Π integral multiples of foot, then gradually until disappearing, the photon of enhancing is more than the photon of decaying for decaying, and closure optical path work exists
Resonant state.
As shown in figure 4, showing the annular optical path of laser gyro of the invention.
As shown in figure 5, showing the functional block diagram of pendulum-type force-balance accelerometer of the invention.
The accelerometer is one of the critical elements in Inertial Measurement Unit, for measuring along the normal of its input shaft effect
Value and low frequency acceleration.Detection quality is suspended in a certain solid of its structure using the negative-feedback principle of closed-circuit system by accelerometer
Positioning is set.Accelerometer is all made of following five part:
1. inertia mass, its inertia energy generates a power when being accelerated；2. elastic hinge；3. the biography of sensitive inertia force acting
Sensor；4. forcer；5. electron-amplifier.Each section is placed in closed shell simultaneously.Each section combines can will be by
Then this current or voltage is transformed into balance again and added by transform mechanical forces caused by acceleration at corresponding current or voltage
Mechanical force required for the input inertia of speed.
When the sensitive axes in the 3. sensor of sensitive inertia force acting have acceleration effect, the position hair of quality is detected
Changing, position detector detect this variation, then input a signal into amplifier, and amplifier drives forcer, makes to detect
Quality is restored to zero-bit.The output of accelerometer is to flow through the forcer electric current proportional to input acceleration.
As shown in fig. 6, showing the electromechanical component figure of pendulous accelerometer of the invention.Label 1 in figure, 3- are respectively
Determine junction block and dynamic junction block；2- flexible circuit conductor band；The 4- support of bearing；5- float；6- torquer coil；7- sleeve；8,9- torquers
And magnetizer；10- pendulum；11- jewel bearing；12,13- be respectively the rotor and stator of angular transducer.
As shown in fig. 7, showing pendulous accelerometer structural schematic diagram of the invention.
7-1 is flexible support in figure, and 7-2 is shell, and 7-3 is yoke, and 7-4 is torquer moving-coil, and 7-5 is permanent magnet, 7-6
For goods of furniture for display rather than for use, 7-7 is signalling means magnetizing coil, and 7-8 is signalling means moving-coil, and 7-9 is amplifier.
The accelerometer is made of pendulum component, signal transducer, push-pull type permanent magnet torquer and flexibility bar, is filled in table
There is silicone oil as damping liquid, and be equipped with accurate temperature control device, to guarantee that instrument works under constant operating temperature.Flexibility bar
One end is fixed on watchcase, and the other end is pasted with signalling means moving-coil, forms cantilever beam, torquer moving-coil is fixed on pendulum,
Permanent magnet one end is fixed on watchcase, and other end empty set is in torquer moving-coil.When watchcase (pedestal) has along IA axis direction
Acceleration a when, flexibility bar moment of inertia effect under around flexible coupling center rotate, generate output angle θ 0, signalling means
It detects θ 0 and is converted into voltage signal, the torque of recommending of amplified addition torquer moving-coil, generation offsets moment of inertia, makes
θ 0 is returned to zero, and the sampled resistance conversion of the electric current in rebalance loop is at output voltage, from the extractable acceleration a out of this voltage.
In step S2, S3, there is no the step sequencings in timing, in embodiment, can first carry out step S2
Afterwards, step S3 is executed, or step S3 can also be first carried out, then execute step S2.
For example, the first attitude matrix is constructed under carrier coordinate system, in building process in step S2, it is thus necessary to determine that
Course angle, pitch angle and the roll angle of coalcutter under different coordinates.Corresponding coordinate change is carried out by inertial navigation unit
It changes, obtains corresponding angle.
1) coordinate transform
Inertial navigation unit must be certain by resolving the navigation informations such as obtained posture, speed, the position of carrier
Coordinate system under, different navigation system can select different coordinate systems according to different navigation needs.And the posture of coalcutter
It is mainly indicated by pitch angle, roll angle and course angle, as shown in Figure 8.
Wherein, coalcutter indicates the yaw angle of coalcutter along working face direction with the angle of direct north, indicates to mine
Machine on working face direction with local level angle indicate coalcutter pitch angle, coalcutter on advance of the face direction with
The angle of local level indicates the roll angle of coalcutter.Inertial navigation technique is to rely on the inertial sensor being mounted on coalcutter,
It measures the acceleration of coalcutter and carries out integral operation twice, to obtain the location status of coalcutter.Due to sensor with adopt
Coal machine is connected, and the coal mining machine information directly obtained by integral operation is the location information under carrier coordinate system, in order to entire
Fully-mechanized mining working information unification also needs progress coordinate system transformation that the location information of coalcutter is transformed to navigation by carrier coordinate system
Under coordinate system.If the course angle of carrier is ψ (being traditionally positive with north by east), pitch angle θ, roll angle γ take geographical seat
Mark system g is navigational coordinate system, and selection carrier coordinate system is right front upper coordinate system, and navigational coordinate system is east-north-day direction, they
Transformation relation it is as shown in Figure 9.
It is the conversion process between carrier coordinate system (b system) and navigational coordinate system (n system) as described in figure 10 above.
2) attitude description
Inertial navigation unit utilizes laser gyro and accelerometer construction Inertial Measurement Unit (IMU), Inertial Measurement Unit
(IMU) it is fixedly installed in coalcutter carrier, therefore the physics for being all based on carrier coordinate system that laser gyro and accelerometer measure
Amount, i.e. laser gyro are based on carrier coordinate system and measure three axis angular velocity of rotation of coalcutter, and accelerometer is surveyed based on carrier coordinate system
Measure the acceleration of three axis translational motion of coalcutter.And the navigation calculating of inertial navigation unit is to be based on navigational coordinate system, therefore need
Complete the coordinate transformation process in 1).In three dimensions, the transformation of coalcutter pose in moving process can use one group
Spin matrix is levied with scale is translated towards.Wherein, translation vector characterization is navigational coordinate system origin to carrier coordinate system origin
Vector, and spin matrix is also referred to as attitude matrix, the posture of real-time characterization coal mining railcar body.
In some illustrative embodiments, in step S3, first attitude matrix that constructed under carrier coordinate system
Process includes:
The first attitude matrix is constructed by the initial state course angle of coalcutter, pitch angle and roll angle, passes through following formula structure
Build the first attitude matrix:WhereinIndicate n system and b system
Between rotate angle,Respectively indicate the three-dimensional system of coordinate between n system and b system
Under rotor shaft direction；If u is the rotating vector in n system, carrier is rotated around u, and rotation angle is β, l, m, and n is expressed as u in n
The projection of three rotor shaft directions in system.
Specifically attitude matrix is constructed according to Quaternion Algorithm.Quaternary number is one by a real number and three void
The supercomplex of number unit composition, wherein real number representation rotates angle, and imaginary unit indicates rotor shaft direction, if u is the rotation in n system
Vector, carrier are rotated around u, and rotation angle is β, projection u of the u in n systemn(l, m, n), l, m, n are expressed as u in n system
The projection of three rotor shaft directions, then with Q (e0,e1,e2,e3)=e0+e1i+e2j+e3 kThe attitude matrix that the quaternary number of construction indicates
Are as follows:
WhereinIt indicates to rotate angle between n system and b system, Respectively indicate the rotor shaft direction under the three-dimensional system of coordinate between n system and b system.
Formula (1) and 1) relationship between rotation angle indicates as shown in formula (2):
Wherein, ψ indicates that the course angle corner of carrier equivalent rotary between b system and n system, θ indicate carrier in b system and n system
Between equivalent rotary pitch angle corner, γ indicate carrier equivalent rotary between b system and n system roll angle corner.(2) in
Content is direction cosines element.
It in step s 2, further include that the second attitude matrix under navigational coordinate system is obtained to progress differential；It is described to first
Attitude matrix carries out the product that differential includes: the angular velocity of rotation value under first attitude matrix and the carrier coordinate system and makees
For the result of the differential.
Navigational computer carries out differential update, the i.e. differential equation to the posture under navigational coordinate system are as follows:
By the result of the above-mentioned differential equationAs the second attitude matrix.The above-mentioned initial valuation of coalcutter posture includes just
State course angle, pitch angle and roll angle use the first attitude matrix of initial valuation building for matrix R, around three direction of coalcutter
Axis angular rate ωb(t), it realizes that the attitude reference in Fig. 2 updates by formula (5) to calculate, obtained result is the second posture square
Battle array
Differential representation symbol in the above-mentioned differential equation can be in textbook " inertial navigation " author Qin Yongyuan or textbook
" GNSS and inertia and multi-sensor combined navigation system principle " translator white silk army finds in thinking, indicates differential, hereinafter occurs again
Same symbol also indicates differential.
Wherein,Indicate attitude matrix of the carrier coordinate system relative to navigational coordinate system,Indicate carrier coordinate system phase
For the angular speed of navigational coordinate system, formula (5) transformation is obtained:
Wherein,Indicate attitude matrix of the carrier coordinate system b relative to navigational coordinate system n,Indicate carrier coordinate system phase
For the angular speed of navigational coordinate system,Navigational coordinate system, carrier coordinate system are respectively indicated relative to inertial coordinate
It is projection of the rotational angular velocity of i in navigational coordinate system, carrier coordinate system.Indicate that carrier coordinate system is sat relative to inertia
Projection of the rotational angular velocity of system in navigational coordinate system is marked,Indicate posture of the navigational coordinate system relative to carrier coordinate system
Matrix.
So the formula of posture renewal are as follows:
Wherein,WithThe respectively attitude matrix at m-1 and m moment, i indicate that inertial coodinate system, b indicate
Carrier coordinate system, n indicate navigational coordinate system, and m and m-1 respectively indicate the moment and be chronomere.
During above-mentioned differential calculation, It is obtained by following steps, inertial navigation dress
The positioning and orientation calculating set is to be based on navigational coordinate system (n system), therefore need to complete above-mentioned coordinate transform.Generate such as formula (1)
Shown in attitude matrix R, the i.e. expression of acceleration of gravity and rotational-angular velocity of the earth under navigational coordinate system in formula (3) are as follows:
Wherein, gn,ωnRespectively indicate acceleration of gravity and rotational-angular velocity of the earth under navigational coordinate system (n system)；T is to turn
It sets.
gb, ωbRespectively indicate the acceleration of gravity and rotational-angular velocity of the earth under carrier coordinate system (b system).
The first attitude matrix is constructed in detailed S3 above, and carries out differential and obtains the process of the second attitude matrix, below in detail
The process of the second location data under navigational coordinate system is obtained in thin description step S2, comprising: in first location data
The translational acceleration angle value combination coalcutter speed and position initial valuation carry out integral calculation.
Initial position of the coalcutter under carrier coordinate system includes: velocity original value and position initial value, and is respectively indicated
For vg(0)、pg(0), wherein acceleration of gravity and rotational-angular velocity of the earth vector in geographic coordinate system (are initially directed at reference coordinate
System, navigational coordinate system) component it is accurately known.It is as follows:
gn=[0 0-g]T
ωn=[0 ωecos L ωesin L]T (3)
Wherein, L, g and ωeRespectively corresponding indicates big in local latitude, acceleration of gravity size and earth rotation angular speed
It is small.
The process of integral calculation includes: in above-mentioned S3
The posture square of the real value for the attitude matrix R that navigational computer is obtained according to posture renewal, i.e. formula (7) description
Battle array, the acceleration information that acceleration measures are based on carrier coordinate system, need to subtract gravity acceleration g and obtain under geographic coordinate system
Acceleration agIf the measured value of accelerometer is a=[ax ay az]T, acceleration once integrates and obtains speed Vg, to velocity product
Get displacement Pg, therefore acceleration, speed, displacement relation are as follows:
ag=R-1a-g
Discretization is carried out in cycle T to inertial navigation components, that is, is equivalent to formula:
Vgm=Vgm-1+agm-1T
Wherein, Vgm, Vgm-1Respectively indicate m moment, the speed under m-1 moment geographic coordinate system, Pgm,Pgm-1Respectively indicate m
Moment, the displacement under m-1 moment geographic coordinate system, agm-1Indicate the acceleration under m-1 moment geographic coordinate system.
In some illustrative embodiments, second location data includes: speed of the coalcutter under navigational coordinate system
Value vg(t) and shift value p of the coalcutter under carrier coordinate systemg(t)。
Carrier coordinate system is coordinately transformed navigational coordinate system, therefore transformed acceleration an(t), speed vg(t)、
Shift value pg(t) as follows:
Integral calculation mentioned here is that the navigation in Fig. 2 calculates, to the speed of formula (1) direction cosine matrix and coalcutter
The initial valuation of degree and position, performed navigation calculate, and final calculated result is that the coalcutter in formula (10) is displaced pg
(t) and coal shearer speed vg(t)。
Therefore coalcutter can carry out differential update by angular speed of the self inertia navigation system installation to gyroscope, obtain
The posture of coalcutter integrates real time acceleration to obtain speed and displacement, realizes the positioning of coalcutter autonomous attitude determination.
In the above-described embodiments, it illustrates the process of step S2, illustrates the process of step S4 and step S5 below.
Step S4: inverse operation is carried out according to second attitude matrix and obtains posture of the coalcutter under navigational coordinate system
Angle；
Firstly, course angle, pitch angle and the roll angle of coalcutter are obtained by preliminary examination measurement, it is initial according to coalcutter posture
Valuation is expressed as the first attitude matrix of coalcutter, by formula (5) differentiate to obtain operation after the second posture square
Battle arrayInverse operation is carried out to the second attitude matrix, regains course angle, pitch angle and cross of the coalcutter under navigational coordinate system
Roll angle, as the attitude angle under coalcutter navigational coordinate system.That is the direction cosines element inverse operation (navigation in Fig. 2 is used in Fig. 2
Calculate) after, course angle, pitch angle and roll angle of the coalcutter under navigational coordinate system are regained, as the coal mining in Fig. 2
The attitude data of machine.
Step S5: determine coalcutter under the navigational coordinate system according to second location data and the attitude angle
Position.
Due to the second location data include: in formula (10) velocity amplitude and coalcutter of the coalcutter under navigational coordinate system exist
Shift value under carrier coordinate system, and course angle, pitch angle and the roll angle also obtained with inverse operation in step S4.To
To position of the coalcutter after n system bottom offset, which is the position after inertial navigation.
In some illustrative embodiments, will be obtained after differential the direction cosines element in second attitude matrix as
Element in matrix is updated the element in first attitude matrix, is combined and is adopted using updated first attitude matrix
The speed of coal machine and the initial valuation of position carry out integral calculation and obtain the second location data under navigational coordinate system.To again
It navigates after the integral operation calculated, obtains coalcutter again and be displaced pg(t) and coal shearer speed vg(t)。
In some illustrative embodiments, it is combined in the translational acceleration angle value in first location data
Before the speed of coalcutter and the initial valuation progress integral calculation of position obtain the second location data under navigational coordinate system, institute
State method further include:
Error is carried out using angular velocity of rotation and translational acceleration of the Extended Kalman filter to first location data
Compensation.Concrete principle is as shown in figure 11.
The initial value of expanded Kalman filtration algorithm is set, when coalcutter stationary state is not detected, filter
It is only predicted without executing renewal process；
If detecting that coalcutter remains static when static detection, due to diagonally fast in data acquisition module
Degree, acceleration information are acquired, and the part work of formula (1) described coordinate system transformation has been completed at the same time, and opposite zero state is repaired
Positive process includes: that formula (9) are resolved obtained initial velocity as the error observation of speed, simultaneously by zero-velocity curve
Control spreading kalman (Kalman) filtering algorithm is updated process；
Discretization is carried out in cycle T to inertial navigation components, that is, is equivalent to formula:
Vgm=Vgm-1+agm-1T
Wherein, Vgm, Vgm-1Respectively indicate m moment, the speed of the coalcutter under m-1 moment geographic coordinate system, Pgm,Pgm-1Point
Not Biao Shi the m moment, the displacement of the coalcutter under m-1 moment geographic coordinate system, agm-1It indicates under m-1 moment geographic coordinate system
The acceleration of coalcutter.
Using above-mentioned formula (9) inertial navigation components are carried out with sliding-model control in cycle T may be implemented to facilitate the effect of calculating
Fruit.
Described referred to the initial velocity that formula (9) resolving obtains as the error observation of speed by zero-velocity curve will be first
Beginning speed vg(0) error observation of the initial velocity that substitution formula (9) is resolved as speed.
Passing through the acceleration that gyroscope and accelerometer export in described Figure 11 is a being mentioned aboveb(t), angular speed
For the ω being mentioned aboveb(t)。
It is to be mentioned above to the translational acceleration in first location data by inertial navigation positioning calculation
The speed of angle value combination coalcutter and the initial valuation of position carry out integral calculation and obtain the second positioning number under navigational coordinate system
The first attitude matrix is constructed accordingly and under carrier coordinate system, and is carried out differential and obtained the second attitude matrix under navigational coordinate system
Process.
It is the v being mentioned above by the speed that inertial navigation positioning calculation obtainsg(t), position is the p being mentioned aboveg
(t), deflection is by the updated course angle of differential, pitch angle and roll angle.
The process that feedback is corrected described in Figure 11 is that the speed that will be measured, position and deflection equal error value are fed back to currently
Inertial navigation positioning and calculating unit corrects feedback at after the completion of resolving without modified speed, position and direction angle value
Process, which can be understood as subtracting error amount with the value of uncorrected speed, position and deflection, obtains the mistake of accurately posture information
Journey.Error, the systematic error to pass through the error amount that Extended Kalman filter obtains, i.e. in Figure 11.
Finally obtained posture information is the value of speed after error correction, position and deflection in Figure 11.
The process of estimation error described in Figure 11 is the speed that currently resolves inertial navigation as the reality of Extended Kalman filter
Then whether measured value remains static according to coalcutter instantly, carry out judging the prediction that expanded Kalman filtration algorithm executes
Process or renewal process.
If above-mentioned solution coalcutter of the invention also may be implemented without the Extended Kalman filter in Figure 11 to update
The method of posture information afterwards only can solve to a certain extent inertial navigation in position fixing process not using Extended Kalman filter
Influence of the systematic error of disconnected accumulation to positioning accuracy, to improve positioning accuracy.
By renewal process, expanded Kalman filtration algorithm in system mode vector acceleration, angular speed, speed,
The error of position does optimal estimation, and error is fed back to navigator fix and determines appearance solving unit；The system mode vector is one
It is a including acceleration, angular speed, speed equal error information vector.
In inertia measurement data, including the velocity error in expanded Kalman filtration algorithm state vector after compensation, position
Error, attitude angle zero, retain acceleration, angular speed error.
It is entangled by independently obtaining acceleration, angular speed location data, and to location data progress coordinate conversion, real-time compensation
Partially equal processing, further according to the inertial navigation location data under inertial navigation correction error parameter output navigational coordinate system, therefore, the present invention is provided
The autonomous attitude determination localization method based on inertial navigation the positioning under navigational coordinate system not only may be implemented, also solve position location
The problem of covering can not position in the case of signal is weak or blind area, and real-time deviation correcting provided by the invention solves inertial navigation and is positioning
Influence of the systematic error constantly accumulated in the process to positioning accuracy, to improve positioning accuracy.
As shown in figure 12, the invention also discloses a kind of freedom positioning device of coal-mining machine based on inertial navigation data, institutes
Stating device includes:
Measurement module 100, for measuring and obtaining under carrier coordinate system according to the inertia sensing instrument being mounted on coalcutter
First location data of coalcutter, wherein first location data includes: translational acceleration of the coalcutter under carrier coordinate system
Degree and angular velocity of rotation value of the coalcutter under carrier coordinate system；
Module of differentiating 200 for constructing the first attitude matrix under carrier coordinate system, and carries out differential and is navigated
The second attitude matrix under coordinate system；
Integral operation module 300, for the translational acceleration angle value combination coalcutter in first location data
Speed and position initial valuation carry out integral calculation obtain the second location data under navigational coordinate system；
Inverse operation module 400 obtains coalcutter in navigation coordinate for carrying out inverse operation according to second attitude matrix
Attitude angle under system；
Position determination module 500, for determining coalcutter described according to second location data and the attitude angle
Position under navigational coordinate system.
The beneficial effects of the present invention are:
Product is dedicated to intelligent coal mine Manless mining field, tackles key problems for core key device technique, with fully mechanized mining
Based on equipment automation control, production scene practical factor is deeply considered, military inertial navigation core key technology is introduced, in conjunction with coal
Mine application actual demand characteristic possesses independent intellectual property right from inertia device, the system integration, software development, realizes that coalcutter is fixed
Position home-made equipment.The coalcutter autonomous positioning navigation of mating independent research design and the automatic cut-off of working face are core technology
Intelligent fully mechanized mining operation self- steering control module realizes that coal mine intelligence fully mechanized mining operation self- steering is mined.
Inertial navigation unit and corollary system are manufactured experimently in present invention independent research for the first time, realize core key equipment and technology state
Productionization reduces external core key technology dependency degree, realizes the target of total system and the device localization rate of parts and components 100%；
The present invention uses the high-precision inertial navigation technology of Beidou navigation positioning field for the first time, and independent research high-precision combines
Location algorithm；
The present invention researches and develops the data real time fusion process technology used and embedded system integrated technology, can be used by high-precision
Property navigation system, mileage gauge data synchronize, acquire, transmit, after carrying out integrated treatment to information, draw accurately three-dimensional space
Between coordinate information, realize coal working face information data three-dimensional visualization present.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, logistics management server or the network equipment etc.) executes described in each embodiment of the application
The all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can be with
Store the medium of program code.
The above, above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although referring to before
Embodiment is stated the application is described in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of coalcutter autonomic positioning method based on inertial navigation data, which is characterized in that the described method includes:
According to the inertia sensing instrument being mounted on coalcutter, measurement obtains the first positioning number of coalcutter under carrier coordinate system
According to wherein first location data includes: that translational acceleration and coalcutter of the coalcutter under carrier coordinate system are sat in carrier
Angular velocity of rotation value under mark system；
The first attitude matrix is constructed under carrier coordinate system, and is carried out differential and obtained the second attitude matrix under navigational coordinate system；
The initial valuation of speed and position to the translational acceleration angle value combination coalcutter in first location data into
Row integral calculation obtains the second location data under navigational coordinate system；
Inverse operation, which is carried out, according to second attitude matrix obtains attitude angle of the coalcutter under navigational coordinate system；
Position of the coalcutter under the navigational coordinate system is determined according to second location data and the attitude angle.
2. the coalcutter autonomic positioning method according to claim 1 based on inertial navigation data, which is characterized in that
It is described that the first attitude matrix is constructed under carrier coordinate system, comprising:
The first attitude matrix is constructed by the initial state course angle of coalcutter, pitch angle and roll angle, passes through following formula building the
One attitude matrix:WhereinIt indicates between n system and b system
Angle is rotated,It respectively indicates under the three-dimensional system of coordinate between n system and b system
Rotor shaft direction；If u is the rotating vector in n system, carrier is rotated around u, and rotation angle is β, l, m, and n is expressed as u in n system
The projection of three rotor shaft directions；
It is described that carry out differential to first attitude matrix include: rotation under first attitude matrix and the carrier coordinate system
Result of the product of tarnsition velocity value as the differential.
3. the coalcutter autonomic positioning method according to claim 1 based on inertial navigation data, which is characterized in that
Second location data include: coalcutter under navigational coordinate system velocity amplitude and coalcutter under carrier coordinate system
Shift value.
4. the coalcutter autonomic positioning method according to claim 1 based on inertial navigation data, which is characterized in that described
Inertia sensing instrument includes: pendulous accelerometer for measuring the translational acceleration angle value of first location data and for measuring
The lasergyro of the angular velocity of rotation value of first location data.
5. the coalcutter autonomic positioning method according to claim 3 or 4 any one based on inertial navigation data, special
Sign is, the speed to the translational acceleration angle value combination coalcutter in first location data and position just
Before beginning valuation progress integral calculation obtains the second location data under navigational coordinate system, the method also includes:
Error compensation is carried out using angular velocity of rotation and translational acceleration of the Extended Kalman filter to first location data.
6. the coalcutter autonomic positioning method according to claim 1 based on inertial navigation data, which is characterized in that will be micro-
The direction cosines element in second attitude matrix is obtained after point as the element in matrix in first attitude matrix
Element be updated, accumulated using the initial valuation of the speed and position of updated first attitude matrix combination coalcutter
Divide the second location data being calculated under navigational coordinate system.
7. a kind of freedom positioning device of coal-mining machine based on inertial navigation data, which is characterized in that described device includes:
Measurement module, for according to the inertia sensing instrument being mounted on coalcutter, measurement to obtain coalcutter under carrier coordinate system
The first location data, wherein first location data includes: translational acceleration of the coalcutter under carrier coordinate system and to adopt
Angular velocity of rotation value of the coal machine under carrier coordinate system；
It differentiates module, for constructing the first attitude matrix under carrier coordinate system, and carries out differential and obtain navigational coordinate system
Under the second attitude matrix；
Integral operation module, for the translational acceleration angle value combination coalcutter in first location data speed and
The initial valuation of position carries out integral calculation and obtains the second location data under navigational coordinate system；
Inverse operation module obtains appearance of the coalcutter under navigational coordinate system for carrying out inverse operation according to second attitude matrix
State angle；
Position determination module, for determining coalcutter in the navigation coordinate according to second location data and the attitude angle
Position under system.
8. the freedom positioning device of coal-mining machine according to claim 7 based on inertial navigation data, which is characterized in that
Described differentiate constructs the first attitude matrix under carrier coordinate system described in module, comprising:
The first attitude matrix is constructed by the initial state course angle of coalcutter, pitch angle and roll angle, passes through following formula building the
One attitude matrix:WhereinIt indicates between n system and b system
Angle is rotated,It respectively indicates under the three-dimensional system of coordinate between n system and b system
Rotor shaft direction；If u is the rotating vector in n system, carrier is rotated around u, and rotation angle is β, l, m, and n is expressed as u in n system
The projection of three rotor shaft directions；
It is described that carry out differential to first attitude matrix include: rotation under first attitude matrix and the carrier coordinate system
Result of the product of tarnsition velocity value as the differential.
9. the freedom positioning device of coal-mining machine according to claim 7 based on inertial navigation data, which is characterized in that described
Second location data includes: coalcutter in the shift value of velocity amplitude and coalcutter under carrier coordinate system under navigational coordinate system.
10. the freedom positioning device of coal-mining machine according to claim 7 based on inertial navigation data, which is characterized in that institute
Stating inertia sensing instrument includes: pendulous accelerometer for measuring the translational acceleration angle value of first location data and for surveying
Measure the lasergyro of the angular velocity of rotation value of first location data.
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