CN110926406B - Initial orientation method for hole-exploring robot - Google Patents

Initial orientation method for hole-exploring robot Download PDF

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CN110926406B
CN110926406B CN201911298858.XA CN201911298858A CN110926406B CN 110926406 B CN110926406 B CN 110926406B CN 201911298858 A CN201911298858 A CN 201911298858A CN 110926406 B CN110926406 B CN 110926406B
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robot
exploring
hole
point
initial orientation
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CN110926406A (en
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谢翔
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Chinese Nonferrous Metal Survey And Design Institute Of Changsha Co ltd
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Chinese Nonferrous Metal Survey And Design Institute Of Changsha Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
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  • Geophysics And Detection Of Objects (AREA)

Abstract

The invention discloses a method for initially positioning a hole-exploring robot, which comprises the following steps: acquiring a fixed point on an axis in the robot; acquiring at least one measuring point on an axis in the robot; calculating the azimuth angle alphan(ii) a Calculating initial positioning direction angle of hole-exploring robot
Figure DDA0002321346750000011
The method for obtaining the initial positioning direction angle of the tunnel-exploring robot by carrying out weighted average on the base length and the PDOP value can effectively weaken the influence of RTK measurement errors on the positioning accuracy, obtain the initial positioning direction angle of the tunnel-exploring robot with high accuracy, improve the effectiveness of the whole detection process, and facilitate the guidance of actual working conditions such as construction, maintenance and the like.

Description

Initial orientation method for hole-exploring robot
Technical Field
The invention relates to the field of surveying and mapping, in particular to an initial orientation method of a hole-exploring robot.
Background
When the exploratory hole robot is used for exploration, the coordinates and the azimuth angle of the robot in the plane coordinates need to be confirmed firstly, the coordinate measurement can be carried out at the center position of the robot by using RTK (carrier-phase differential technology), and the error is negligible relative to the exploration distance. But the initial azimuth of the robot has a large influence on the overall detection result.
Due to the actual situation at the project site, it is common to measure two points P (x) on the axis of the robot using RTK1,y1) And Q (x)2,y2) By the expression
Figure GDA0003252629780000011
An initial azimuth angle may be calculated.
However, because RTK has a measurement error, an error also exists in the calculated initial azimuth angle, and the initial orientation accuracy of the exploratory hole robot is not high.
Therefore, the technology for designing the initial orientation of the high-precision tunnel-exploring robot is of great significance.
Disclosure of Invention
In order to reduce the measurement error of an initial azimuth angle as much as possible and improve the initial orientation precision of the tunnel-exploring robot, the invention provides an initial orientation method of the tunnel-exploring robot, and the specific technical scheme is as follows:
a method for initially orienting a hole-exploring robot comprises the following steps:
obtaining a fixed point P on the axis of the robot0The coordinate is (x)0,y0)；
Acquiring at least one measuring point P on the axis of the robotiThe coordinate is (x)i,yi) Wherein i is a natural number which is greater than or equal to 2 and less than or equal to n, and n is the number of the measuring points;
calculating the azimuth angle alpha by adopting the expression 3)i：
Figure GDA0003252629780000012
Obtaining the initial positioning direction angle of the hole-exploring robot by adopting an expression 4)
Figure GDA0003252629780000013
Figure GDA0003252629780000021
Wherein: PDOPiFor the ith measurement point PiThe strength and the weakness of the position precision during measurement are generally obtained by the square sum of errors such as latitude, longitude and elevation and the like; l isiFor the ith measurement point PiTo a fixed point P0Base length of (i.e. measuring point P)iTo a fixed point P0The distance of (d); alpha is alphaiIs composed of the ith measuring point PiThe calculated azimuth angle.
Preferably, in the above technical solution, the measurement point PiThe number of (B) is 3 to 50, preferably 3 to 15, and further preferably 3 to 10. The number of measuring points is too small, and the larger the measuring error is, the lower the precision is; too many measurement numbers, too many repeated measurement points and long calculation time.
Preferably, in the above technical solution, the plane error of the measuring point is in centimeter level.
Preferably, in the above technical solution, the PDOP data is obtained from an RTK handbook, and the value range thereof is 0.5 to 99.9, preferably 1 to 50.
The method for obtaining the initial positioning direction angle of the hole-exploring robot by carrying out weighted average on the base length and the PDOP value
Figure GDA0003252629780000022
The influence of RTK measurement errors on the orientation precision can be effectively weakened, the initial positioning direction angle of the tunnel-exploring robot with high precision is obtained, the effectiveness of the whole detection process is improved, and the guidance of actual working conditions such as construction and maintenance is facilitated.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:
FIG. 1 is a schematic view of a robot orientation in an embodiment of the present invention;
fig. 2 is a schematic diagram of an analysis of orientation errors due to RTK measurement errors in the prior art.
Detailed Description
Embodiments of the present patent are described in detail below with reference to the drawings, but the present patent can be implemented in many different ways as defined and covered by the claims.
Comparative example:
comparative examples RTK measurements using the prior art, details are as follows:
two points P (x) on the axis of the RTK measuring robot are adopted1,y1) And Q (x)2,y2) Calculating an initial azimuth angle by expression 1):
Figure GDA0003252629780000031
due to the measurement error of RTK, as can be seen from fig. 2, the maximum angular deviation β of the initial orientation can be calculated by expression 2):
Figure GDA0003252629780000032
wherein R is the positioning error of RTK, L is P0With other measuring points PnThe distance between them.
When R is 4cm and L is 80cm, there are:
Figure GDA0003252629780000033
i.e. a maximum error of 2.9 deg..
Example (b):
the embodiment discloses a method for initially orienting a hole-exploring robot, which comprises the following steps:
firstly, acquiring a fixed point P on an axis in the robot0The coordinate is (x)0,y0) See table 1 for details.
Secondly, at least one measuring point P on the central axis of the robot is obtainediThe coordinate is (x)i,yi) Wherein i is a natural number greater than or equal to 2 and less than or equal to n, and n is the total number of measurement points;
preferred measurement points PiThe number of the measuring points is 3-50, 4 are selected in the embodiment, the detailed figure 1 shows, and the plane error of the measuring points is preferably in centimeter level, and the plane measuring error is preferably 4 cm.
Thirdly, calculating the azimuth angle alpha by adopting the expression 3)i：
Figure GDA0003252629780000034
The data are detailed in table 1.
Fourthly, obtaining the initial positioning direction angle of the hole-exploring robot by adopting an expression 4)
Figure GDA0003252629780000036
Figure GDA0003252629780000035
Wherein: PDOPiFor the ith measurement point PiThe strength of position precision during measurement; l isiFor the ith measurement point PiTo a fixed point P0Base length of (i.e. measuring point P)iTo a fixed point P0The distance of (d); alpha is alphaiIs composed of the ith measuring point PiThe calculated azimuth angle.
TABLE 1 parameter table in the course of actually measuring the initial orientation angle of the exploratory tunnel robot
Figure GDA0003252629780000041
The true azimuth angle is set to 45 DEG, and the fixed point P0Measurement point PiCoordinate of (a), initial orientation azimuth alpha of the exploratory tunnel robot calculated by the prior art (comparative example) and initial orientation azimuth alpha of the exploratory tunnel robot calculated by the scheme (embodiment) of the invention
Figure GDA0003252629780000042
As in table 1. The general measuring path is from the initial end to the end, the fixed point P0At the initial end, measuring point PiLocated on the path from the initial end to the final end.
As can be seen from Table 1, the method of the invention, combined with the baseline length and the PDOP value to perform the weighted average acquisition method to obtain the initial positioning direction angle of the tunnel-exploring robot which is closer to the true angle, can effectively weaken the influence of the RTK measurement error on the positioning accuracy, obviously reduce the initial positioning azimuth error, can obtain the initial positioning direction angle of the tunnel-exploring robot with high accuracy, and is convenient for guiding the construction.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. A method for initially orienting a hole-exploring robot is characterized by comprising the following steps:
obtaining a fixed point P on the axis of the robot0The coordinate is (x)0,y0)；
Acquiring at least one measuring point P on the axis of the robotiThe coordinate is (x)i,yi) Wherein i is a natural number greater than or equal to 2 and less than or equal to n, and n is the total number of the measurement points;
calculating the azimuth angle alpha by adopting the expression 3)i：
Figure FDA0003252629770000011
Obtaining the initial positioning direction angle of the hole-exploring robot by adopting an expression 4)
Figure FDA0003252629770000012
Figure FDA0003252629770000013
Wherein: PDOPiFor the ith measurement point PiThe strength of the position precision during measurement; l isiFor the ith measurement point PiTo a fixed point P0Base length of (i.e. measuring point P)iTo a fixed point P0The distance of (d); alpha is alphaiIs composed of the ith measuring point PiThe calculated azimuth angle.
2. The method of initial orientation of a cave-exploring robot of claim 1, wherein: measurement point PiThe number of (2) is 3-50.
3. The method of initial orientation of a cave-exploring robot of claim 2, wherein: measuring pointPiThe number of (2) is 3-15.
4. The method of initial orientation of a cave-exploring robot of claim 2, wherein: the plane error of the measuring point is in centimeter level.
5. A method of initial orientation of a exploratory hole robot as claimed in any one of claims 1-3, wherein: the PDOP data is obtained through an RTK handbook, and the value range of the PDOP data is 0.5-99.9.
6. The method of initial orientation of a cave-exploring robot of claim 5, wherein: the PDOPiThe value range of (A) is 1 to 50.
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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5512904A (en) * 1994-06-13 1996-04-30 Andrew Corporation Method and apparatus of establishing a vehicle azimuth
JPH1195837A (en) * 1997-09-19 1999-04-09 Sumitomo Heavy Ind Ltd Method for determining initial truck position and attitude angle of gyro guide type automated guided vehicle, and method for improving travel stability at position correction
CN101846734A (en) * 2009-03-26 2010-09-29 中国农业大学 Agricultural machinery navigation and position method and system and agricultural machinery industrial personal computer
CN102278970A (en) * 2011-06-14 2011-12-14 北京林业大学 Technique for monitoring positioning and deformation based on angular distance difference of total station
CN107655485A (en) * 2017-09-25 2018-02-02 北京理工大学 A kind of cruise section independent navigation position deviation modification method
CN108680183A (en) * 2018-03-29 2018-10-19 中国有色金属长沙勘察设计研究院有限公司 A kind of appraisal procedure of navigation and positioning accuracy
CN108802788A (en) * 2018-04-10 2018-11-13 拓攻（南京）机器人有限公司 A kind of determination method, apparatus, equipment and the storage medium of course deviation

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8843290B2 (en) * 2010-07-22 2014-09-23 Qualcomm Incorporated Apparatus and methods for calibrating dynamic parameters of a vehicle navigation system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5512904A (en) * 1994-06-13 1996-04-30 Andrew Corporation Method and apparatus of establishing a vehicle azimuth
JPH1195837A (en) * 1997-09-19 1999-04-09 Sumitomo Heavy Ind Ltd Method for determining initial truck position and attitude angle of gyro guide type automated guided vehicle, and method for improving travel stability at position correction
CN101846734A (en) * 2009-03-26 2010-09-29 中国农业大学 Agricultural machinery navigation and position method and system and agricultural machinery industrial personal computer
CN102278970A (en) * 2011-06-14 2011-12-14 北京林业大学 Technique for monitoring positioning and deformation based on angular distance difference of total station
CN107655485A (en) * 2017-09-25 2018-02-02 北京理工大学 A kind of cruise section independent navigation position deviation modification method
CN108680183A (en) * 2018-03-29 2018-10-19 中国有色金属长沙勘察设计研究院有限公司 A kind of appraisal procedure of navigation and positioning accuracy
CN108802788A (en) * 2018-04-10 2018-11-13 拓攻（南京）机器人有限公司 A kind of determination method, apparatus, equipment and the storage medium of course deviation

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