CN111121771A - Positioning method and device based on inertial navigation device and encoder - Google Patents
Positioning method and device based on inertial navigation device and encoder Download PDFInfo
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- CN111121771A CN111121771A CN201911424715.9A CN201911424715A CN111121771A CN 111121771 A CN111121771 A CN 111121771A CN 201911424715 A CN201911424715 A CN 201911424715A CN 111121771 A CN111121771 A CN 111121771A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The invention provides a positioning method and a positioning device based on an inertial navigation device and an encoder, wherein the method comprises the following steps: the method comprises the steps of measuring initial information of the underground mine equipment before the underground mine equipment starts to work through a lead, collecting inertial navigation measurement information of the underground mine equipment through an inertial navigation device, collecting mileage information of the underground mine equipment through an encoder, and determining geographic position information of the underground mine equipment according to the initial information, the inertial navigation measurement information and the mileage information. The invention can accurately master the geographical position information of the underground equipment of the mine under the unmanned condition, thereby providing technical support for the efficient, intelligent and safe production of the mine.
Description
Technical Field
The invention relates to the technical field of mine production, in particular to a positioning method and a positioning device based on an inertial navigation device and an encoder.
Background
Mine mining is a huge and complex system engineering, the trend of modern mining is to reduce the production activities of workers in a mine underground, and under the unmanned condition, the operation condition of underground mine equipment of a working place is controlled, so that the underground mine mining is an important condition for ensuring safe and efficient mining.
However, due to the fact that mine underground environment conditions are severe, space is limited, magnetic fields are strong, and the like, the traditional methods of GPS positioning, satellite positioning and the like cannot be implemented underground, absolute geographical position information of various mine underground devices cannot be accurately obtained, so that the accurate positions of current working face propulsion or various devices cannot be accurately mastered under the unmanned condition, and when emergency situations (such as device failure, collapse due to roof fall and the like) are encountered, the mine underground devices cannot be uniformly regulated and controlled based on the absolute geographical positions of the various mine underground devices, and therefore responses to the mine underground emergency situations are difficult to be timely and comprehensively made.
Disclosure of Invention
In view of the above problems, the present invention provides a positioning method and apparatus based on an inertial navigation device and an encoder, so as to solve the problem that the absolute geographical position information of the mine downhole equipment cannot be accurately obtained in the prior art.
In order to solve the above problems, the present invention is realized by:
in a first aspect, the present invention provides a positioning method based on an inertial navigation device and an encoder, the method comprising: measuring initial information of the underground equipment of the mine when the underground equipment starts to work through a lead; acquiring inertial navigation measurement information of the mine underground equipment through an inertial navigation device; acquiring mileage information of the mine underground equipment through an encoder; and determining the geographical position information of the underground mine equipment according to the initial information, the inertial navigation measurement information and the mileage information.
Optionally, the initial information includes initial position information, mileage equivalence and installation azimuth error angle of the mine downhole equipment, and the determining the geographic position information of the mine downhole equipment according to the initial information, the inertial navigation measurement information and the mileage information includes:
and determining the geographical position information of the underground mine equipment according to the initial position information, the mileage equivalent, the installation azimuth error angle, the inertial navigation measurement information and the mileage information.
Optionally, prior to the determining initial information of the mine downhole equipment, the method further comprises:
acquiring first initial position information, first termination position information, a first preset moving track and first mileage information corresponding to the first preset moving track of the underground mine equipment;
acquiring first inertial navigation measurement information of the underground mine equipment through the inertial navigation device under the condition that the underground mine equipment moves according to the first preset moving track;
and calculating numerical values of the mileage equivalent and the installation azimuth error angle according to the first initial position information, the first termination position information, the first inertial navigation measurement information and the first mileage information.
Optionally, the method further comprises:
acquiring second initial position information, second termination position information, a second preset moving track and second mileage information corresponding to the second preset moving track of the mine underground equipment;
under the condition that the mine underground equipment moves according to the second preset moving track, second inertial navigation measurement information of the mine underground equipment is acquired through the inertial navigation device;
determining second geographical position information of the mine underground equipment according to the second initial position information, the mileage equivalent, the installation azimuth error angle, the second inertial navigation measurement information and the second mileage information;
calculating a position difference between the second geographical position information and the second termination position information;
and judging whether the position difference is larger than a preset difference, and if so, updating the mileage equivalent and the installation azimuth error angle.
Optionally, the method further comprises:
and sending the geographical position information of the underground mine equipment to ground equipment which is in communication connection with the underground mine equipment at preset intervals.
In a second aspect, the present invention provides a positioning apparatus based on inertial navigation devices and an encoder, the apparatus comprising:
the system comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for measuring initial information of the underground mine equipment before the underground mine equipment starts to work through a lead;
the first acquisition module is used for acquiring inertial navigation measurement information of the mine underground equipment through an inertial navigation device;
the second acquisition module is used for acquiring mileage information of the mine underground equipment through an encoder;
and the second determination module is used for determining the geographical position information of the underground mine equipment according to the initial information, the inertial navigation measurement information and the mileage information.
Optionally, the initial information comprises initial position information, mileage equivalence and installation azimuth error angle of the equipment in the mine downhole;
the second determination module is used for determining the geographical position information of the underground mine equipment according to the initial position information, the mileage equivalent, the installation azimuth error angle, the inertial navigation measurement information and the mileage information.
Optionally, the apparatus further comprises:
the first obtaining module is used for obtaining first initial position information, first termination position information, a first preset moving track and first mileage information corresponding to the first preset moving track of the mine underground equipment;
the third acquisition module is used for acquiring first inertial navigation measurement information of the underground mine equipment through the inertial navigation device under the condition that the underground mine equipment moves according to the first preset movement track;
and the first calculation module is used for calculating numerical values of the mileage equivalent and the installation azimuth error angle according to the first initial position information, the first termination position information, the first inertial navigation measurement information and the first mileage information.
Optionally, the apparatus further comprises:
the second acquisition module is used for acquiring second initial position information, second ending position information, a second preset moving track and second mileage information corresponding to the second preset moving track of the mine underground equipment;
the fourth acquisition module is used for enabling the underground mine equipment to move according to the second preset moving track and acquiring second geographical position information of the underground mine equipment through the inertial navigation device;
a second calculation module, configured to calculate a position difference between the second geographical position information and the second termination position information;
and the judging module is used for judging whether the position difference value is larger than a preset difference value or not, and if so, updating the mileage equivalent and the installation azimuth error angle.
Optionally, the apparatus further comprises:
and the sending module is used for sending the geographical position information of the underground mine equipment to the ground equipment which is in communication connection with the underground mine equipment at preset time intervals.
The embodiment of the invention has the following advantages:
the invention can accurately master the position information of the underground mine equipment based on absolute geographic coordinates under the unmanned condition, thereby providing technical guarantee for high-efficiency safe production of mines, detecting and correcting the mileage equivalent and the error angle of the installation method according to the actual condition, overcoming the problem that the error of inertial navigation positioning diverges along with time, ensuring the positioning accuracy of the underground mine equipment, and in addition, externally releasing the positioning information of the underground mine equipment in real time, thereby facilitating ground workers to uniformly regulate and control the underground mine equipment based on the absolute geographic position of each underground mine equipment.
Drawings
FIG. 1 is a flow chart illustrating the steps of a positioning method based on an inertial navigation device and an encoder according to an embodiment of the present invention;
fig. 2 shows a schematic structural diagram of a positioning apparatus based on an inertial navigation device and an encoder according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
In order to more clearly understand the embodiment of the invention, the invention is introduced for the underground state of the mine mined by the mine, the underground environment of the mine is severe, the conditions of limited space, strong magnetic field and the like exist, stable wireless signal transmission is difficult to realize, and the underground equipment of the mine cannot establish communication connection with a base station and the like during operation, so that the traditional ground accurate positioning method (such as GPS navigation positioning, Beidou navigation positioning, UWB navigation positioning and the like) cannot be implemented underground of the mine, and the accurate position of the underground equipment of the mine cannot be accurately mastered under the unmanned condition.
In order to solve the above technical problem, an embodiment of the present invention provides a positioning method based on an inertial navigation device and an encoder, and referring to fig. 1, a flowchart illustrating steps of the positioning method based on the inertial navigation device and the encoder provided by the embodiment of the present invention is shown, where the method specifically includes the following steps:
step 110: initial information of the mine downhole equipment before starting operation is measured through the lead.
In the embodiment of the invention, the underground mine equipment refers to equipment which can move on the mining working face of a mine to carry out mining and transportation.
Of course, the mine underground equipment can move on a track deployed in a roadway, and the mine underground equipment can be provided with accessory equipment so as to meet the specific requirements of mine underground mining.
Before the mine downhole equipment starts to work, initial information of the mine downhole equipment is measured through a lead, wherein the initial information can comprise initial position information of the mine downhole equipment, and the initial position information refers to the geographical position of the mine downhole equipment before the mine downhole equipment works (such as national 2000 gauss plane rectangular coordinate, western 80 gauss plane rectangular coordinate, beijing 54 gauss plane rectangular coordinate and the like).
In the embodiment of the present invention, before the underground mine equipment starts to work, at least two control points are predetermined in the underground mine, and a person skilled in the art may determine the control points according to the specific actual conditions in the underground mine.
When the position of the mine underground equipment is measured, the point where the mine underground equipment is located and the adjacent point of at least two control points are connected through a virtual straight line, the formed broken line is called a wire, the horizontal distance of each wire edge and the horizontal included angle of the adjacent wire edges are sequentially measured, and then the initial geographic position of the mine underground equipment is calculated. The process of measuring the initial information of the downhole device, in particular by means of a wireline, is not at the core point of the invention and embodiments of the invention will not be described in detail for this process.
Specifically, when the mine downhole equipment is put into use for the first time, the position information of the place where the mine downhole equipment is put in use for the first time may be used as the initial position information of the mine downhole equipment. And for the mine underground equipment which is already put into use, the position information of the place where the mine underground equipment is located after the last work is finished is used as the initial position information of the mine underground equipment. It should be noted that if the mine down-hole equipment is moved mechanically or manually, the position information of the place where the mine down-hole equipment is moved needs to be used as the initial position information.
Optionally, the initial position information is absolute geographical position information, where the absolute geographical position information refers to position information determined by using the entire earth as a reference system, and includes gaussian plane rectangular coordinate information, elevation information, and the like, and the absolute geographical position information of each location on the earth is unique.
Of course, the initial information may also include information such as mileage equivalence and installation azimuth error angle, which will be described in detail in the following steps, and will not be described herein again in the embodiments of the present invention.
After determining initial information of the mine downhole equipment before starting operation, steps 120 and 130 are performed.
Step 120: and acquiring inertial navigation measurement information of the underground mine equipment through an inertial navigation device.
The mine underground equipment is internally provided with an inertial navigation device, the inertial navigation device can comprise 3 degree-of-freedom gyroscopes for measuring the angular velocity of the mine underground equipment rotating in three orthogonal directions, and the inertial navigation device can also comprise 3 accelerometers for measuring the acceleration of the mine underground equipment in the three orthogonal directions, wherein the selection of the orthogonal directions can be determined by a person skilled in the art according to actual conditions, and the invention is not limited to the above.
The data measured by the gyroscope and the accelerometer are summarized to obtain inertial navigation measurement information, wherein the inertial navigation measurement information comprises angular velocity measured by the gyroscope and acceleration measured by the accelerometer.
Step 130: and acquiring the mileage information of the underground mine equipment through an encoder.
An encoder is pre-installed on the mine underground equipment. The encoder is a device capable of converting an analog signal generated by rotation of a shaft of the driving wheel into a signal form capable of being communicated, transmitted and stored, so that movement information of the mine underground equipment can be acquired through the encoder, and the information of the movement of the mine underground equipment is converted into mileage information capable of being communicated, transmitted and stored and sent to the server. The invention is not limited to the specific form of the encoder.
In concrete implementation, the encoder can be installed in the epaxial of the drive wheel that supports mine underground equipment, and when the drive wheel pivoting, the encoder can note drive wheel pivoted information (such as rotational speed) to convert drive wheel pivoted information into mileage information and send the server.
After determining initial information of the mine downhole equipment before starting operation, acquiring inertial navigation measurement information of the mine downhole equipment through the inertial navigation device, and acquiring mileage information of the mine downhole equipment through the encoder, step 140 is executed.
Step 140: and determining the geographical position information of the underground mine equipment according to the initial information, the inertial navigation measurement information and the mileage information.
In the above steps, after the initial information of the mine downhole equipment before the mine downhole equipment starts to work and the inertial navigation measurement information and the mileage information of the mine downhole equipment after the mine downhole equipment starts to work are obtained, the geographical position information of the mine downhole equipment can be determined according to the initial information, the inertial navigation measurement information and the mileage information. Specifically, the manner of determining the geographical location information of the mine downhole equipment may be: the calculation is carried out based on the initial position information, the inertial navigation measurement information and the mileage information to obtain the geographic position information of the mine underground equipment, the specific calculation process is not the core point of the invention, and the process is not described in detail in the embodiment of the invention.
In a preferred embodiment of the present invention, the geographical location information of the mine downhole equipment may be accurately measured every time interval to offset accumulated errors over time, for example, the geographical location information of the mine downhole equipment may be accurately measured every fixed time of day, such as the time of day in a maintenance shift, etc.
In another preferred embodiment of the present invention, the initial information of the mine downhole equipment obtained in step 101 may include initial position information, mileage equivalence, and installation azimuth error angle of the mine downhole equipment.
The mileage equivalent is an error constant value generated by factors such as a scale error of an encoder, vibration inside mine underground equipment, slippage of a driving wheel and the like.
The installation azimuth error angle is an error angle value generated by the non-strict coincidence of the fixed installation posture of the inertial navigation device and the posture of the mine underground equipment.
In another preferred embodiment of the present invention, the step 104 may further include:
and a substep A: and determining the geographical position information of the underground mine equipment according to the initial position information, the mileage equivalent, the installation azimuth error angle, the inertial navigation measurement information and the mileage information.
In the embodiment of the invention, the geographical position information of the underground mine equipment is determined according to the initial information, the mileage equivalent, the installation azimuth error angle, the inertial navigation measurement information and the mileage information of the underground mine equipment before the underground mine equipment starts to work. Specifically, the manner of determining the geographical location information of the mine downhole equipment may be: and calculating based on the initial position information, the inertial navigation measurement information and the mileage information to obtain the geographic position information of the mine underground equipment.
The positioning device provided by the invention can accurately master the position information of the underground equipment of the mine based on the absolute geographic coordinates under the unmanned condition, thereby providing technical support for the efficient and safe production of the mine.
In another preferred embodiment of the present invention, the method may further include:
step B1: and acquiring first initial position information, first ending position information, a first preset moving track and first mileage information corresponding to the first preset moving track of the underground mine equipment.
In the invention, because the mileage equivalent is related to the scale error of the encoder, the internal vibration of the underground mine equipment and other factors, and the installation error azimuth is related to the installation attitude of the inertial navigation device and the attitude of the underground mine equipment, the mileage equivalent and the installation error azimuth may be different for different underground mine equipment. The embodiment of the invention aims to solve the problems of accurately determining the mileage equivalent and the installation error azimuth of the underground mine equipment.
The method comprises the steps of obtaining first initial position information, first termination position information, a first preset moving track and first mileage information corresponding to the first preset moving track of the underground mine equipment, wherein the first initial position information and the first termination position information are predetermined accurate position information, the first preset moving track can be a predetermined track for the underground mine equipment to move from the first initial position information to the first termination position information, the underground mine equipment can move along the first preset track, and the mileage information moving in the whole process is the first mileage information corresponding to the first preset moving track.
In practical application, when the mine underground equipment is selected to work, a common path is used as a first preset moving track, the position information of the starting point of the path can be determined as first initial position information, and the position information of the ending point can be determined as first ending position information.
The method for acquiring the first initial position information, the first end position information, the first preset moving track and the first mileage information corresponding to the first preset moving track of the mine underground equipment may be: and reading predetermined first initial position information, first termination position information, a first preset movement track and first mileage information corresponding to the first preset movement track from a memory.
And after the first initial position information, the first ending position information, the first preset moving track and the first mileage information corresponding to the first preset moving track of the mine downhole equipment are obtained, executing the step B2.
Step B2: and acquiring first inertial navigation measurement information of the underground mine equipment through the inertial navigation device under the condition that the underground mine equipment moves according to the first preset moving track.
The mine underground equipment can be controlled to move according to the first preset moving track, and in the moving process, the inertial navigation measurement information of the mine underground equipment can be acquired through the inertial navigation device which is pre-installed on the mine underground equipment and serves as the first inertial navigation information.
After acquiring the first inertial navigation measurement information of the mine downhole equipment, step B3 is performed.
Step B3: and calculating numerical values of the mileage equivalent and the installation azimuth error angle according to the first initial position information, the first termination position information, the first inertial navigation measurement information and the first mileage information.
According to the obtained accurate first initial position information, the first ending position information, the first mileage information and the first inertial navigation measurement information measured by the inertial navigation device, the numerical values of the mileage equivalent and the installation azimuth error angle can be calculated.
The obtained mileage equivalent and installation azimuth error angle are calculated and used as the mileage equivalent and installation azimuth error angle used by the mine downhole equipment for determining the geographic position information, and the newly obtained numerical values are used after each calculation to obtain a new mileage equivalent and installation azimuth error angle.
According to the embodiment of the invention, the mileage equivalent and the installation azimuth error angle corresponding to each device can be accurately determined.
In another preferred embodiment of the present invention, the method may further include:
step C1: and acquiring second initial position information, second ending position information, a second preset moving track and second mileage information corresponding to the second preset moving track of the underground mine equipment.
In the invention, as the inertial navigation device may increase along with the increase of the service time, the error of the measured inertial navigation measurement information is gradually increased, so that the measured result is inaccurate.
The second initial position information and the second end position information are both predetermined accurate position information, the second preset moving track can be a predetermined track for the mine underground equipment to move from the second initial position information to the second end position information, the mine underground equipment can move along the second preset track, and the information of the mileage moved in the whole process is second mileage information corresponding to the second preset moving track.
In practical application, a common path can be selected as a second preset moving track when the mine underground equipment works, the position information of the starting point of the path can be determined as second initial position information, and the position information of the terminal point can be determined as second terminal position information.
The method for acquiring the second initial position information, the second end position information, the second preset moving track and the second mileage information corresponding to the second preset moving track of the mine underground equipment may be: and reading predetermined second initial position information, second ending position information, a second preset moving track and second mileage information corresponding to the second preset moving track from the memory.
It should be noted that the second initial position information, the second ending position information, the second preset moving track, and the second mileage information corresponding to the second preset moving track may be the same as or different from the first initial position information, the first ending position information, the first preset moving track, and the first mileage information corresponding to the first preset moving track, which may be determined according to actual situations, and embodiments of the present invention are not limited thereto.
And after the second initial position information, the second ending position information, the second preset moving track and the second mileage information corresponding to the second preset moving track of the mine downhole equipment are obtained, executing the step C2.
Step C2: and acquiring second inertial navigation measurement information of the underground mine equipment through the inertial navigation device under the condition that the underground mine equipment moves according to the second preset moving track.
The mine underground equipment can be controlled to move according to the second preset moving track, and in the moving process, the inertial navigation measurement information of the mine underground equipment can be acquired as second inertial navigation information through the inertial navigation device which is pre-installed on the mine underground equipment.
After acquiring the second inertial navigation measurement information of the mine downhole equipment, step C3 is performed.
Step C3: and determining second geographical position information of the underground mine equipment according to the second initial position information, the mileage equivalent, the installation azimuth error angle, the second inertial navigation measurement information and the second mileage information.
After the mine underground equipment moves to the preset terminal point along the second preset moving track, second geographic position information of the mine underground equipment can be calculated according to the obtained accurate second initial position information, second mileage information, current used mileage equivalent and installation azimuth error angle of the mine underground equipment and second inertial navigation measurement information measured by an inertial navigation device of the mine underground equipment.
Step C4: calculating a position difference between the second geographical position information and the second termination position information.
In the embodiment of the present invention, the second geographical position information of the mine downhole equipment and the obtained accurate second termination position information are calculated to obtain the difference value therebetween, and the specific calculation process is not the core point of the present invention, and the detailed description of the process is omitted in the embodiment of the present invention.
Step C5: and judging whether the position difference is larger than a preset difference, and if so, updating the mileage equivalent and the installation azimuth error angle.
In the embodiment of the present invention, it is determined whether the calculated difference is greater than a preset difference, if so, it indicates that the currently used mileage equivalent and installation azimuth error angle deviate from the actual value greatly and need to be updated, and the method for updating the mileage equivalent and installation azimuth error angle includes: and executing steps B1-B3, and recalculating the mileage equivalent and the installation orientation error angle.
The method provided by the invention can detect and correct the mileage equivalent and the installation azimuth error angle according to the actual situation, thereby overcoming the problem that the error of inertial navigation positioning diverges along with time and ensuring the positioning accuracy.
Optionally, in an embodiment of the present invention, the method may further include:
step D: and sending the geographical position information of the underground mine equipment to ground equipment which is in communication connection with the underground mine equipment at preset intervals.
In the embodiment of the invention, the underground mine equipment can be connected with the ground equipment in a wired or wireless manner, and the data can be stably and reliably transmitted in a wired transmission manner due to the severe underground mine environment. The network cable adopted in the embodiment of the invention is a special network cable with the length of hundreds of meters, so that the movement of the underground mine equipment is not influenced while the wired connection between the underground mine equipment and the ground equipment is established.
And at preset time intervals, the underground mine equipment can send the geographical position information of the underground mine equipment to ground equipment which is in communication connection with the ground equipment in advance. This preset time can change to adapt to different needs, for example, the underground mine equipment during operation can set up less preset time, and the ground equipment of being convenient for masters the positional information of underground mine equipment in real time, and the underground mine equipment during inoperative can set up great preset time, in order to alleviate the burden of ground equipment.
Optionally, the geographical location information of the mine downhole equipment is sent by using an MQTT (Message queue telemetry transport protocol) open source Message queue framework.
Optionally, the ground device is provided with a database, the received geographic position information of the mine downhole device can be stored in the database for a user to directly view, and the stored geographic position information of the mine downhole device can be sent to a third-party device subscribing to the position information of the mine downhole device.
In the embodiment of the invention, the positioning information of the underground mine equipment can be externally published in real time, so that ground workers can conveniently and uniformly regulate and control the underground mine equipment based on the absolute geographic position of each underground mine equipment.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently depending on the embodiment of the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Example two
Referring to fig. 2, a schematic structural diagram of a positioning apparatus based on an inertial navigation device and an encoder according to an embodiment of the present invention is shown, which may specifically include:
a first determination module 210 for measuring initial information of the mine downhole equipment before starting operation through a wire;
the first acquisition module 220 is used for acquiring inertial navigation measurement information of the mine underground equipment through an inertial navigation device;
a second collecting module 230, configured to collect, by an encoder, mileage information of the mine downhole equipment;
and a second determining module 240, configured to determine geographic position information of the mine downhole equipment according to the initial information, the inertial navigation measurement information, and the mileage information.
Optionally, the initial information comprises initial position information, mileage equivalence and installation azimuth error angle of the equipment in the mine downhole;
the second determining module 240 is configured to determine the geographic position information of the mine downhole equipment according to the initial position information, the mileage equivalent, the installation azimuth error angle, the inertial navigation measurement information, and the mileage information.
Optionally, the positioning device further comprises:
the first obtaining module is used for obtaining first initial position information, first termination position information, a first preset moving track and first mileage information corresponding to the first preset moving track of the mine underground equipment;
the third acquisition module is used for acquiring first inertial navigation measurement information of the underground mine equipment through the inertial navigation device under the condition that the underground mine equipment moves according to the first preset movement track;
and the first calculation module is used for calculating numerical values of the mileage equivalent and the installation azimuth error angle according to the first initial position information, the first termination position information, the first inertial navigation measurement information and the first mileage information.
Optionally, the positioning device further comprises:
the second acquisition module is used for acquiring second initial position information, second ending position information, a second preset moving track and second mileage information corresponding to the second preset moving track of the mine underground equipment;
the fourth acquisition module is used for enabling the underground mine equipment to move according to the second preset moving track and acquiring second geographical position information of the underground mine equipment through the inertial navigation device;
a second calculation module, configured to calculate a position difference between the second geographical position information and the second termination position information;
and the judging module is used for judging whether the position difference value is larger than a preset difference value or not, and if so, updating the mileage equivalent and the installation azimuth error angle.
The positioning device based on the inertial navigation device and the encoder can accurately master the position information of the underground mine equipment based on absolute geographic coordinates under the unmanned condition, so that the technical guarantee can be provided for efficient and safe production of a mine, in addition, the mileage equivalent and installation azimuth error angle can be detected and corrected according to the actual condition, the problem that the error of the inertial navigation positioning is dispersed along with time can be solved, the positioning accuracy is ensured, in addition, the positioning information of the underground mine equipment can be externally issued in real time, and therefore ground workers can conveniently and uniformly regulate and control the underground mine equipment based on the absolute geographic positions of the underground mine equipment.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminals (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create a system for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction system which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The positioning method and apparatus based on inertial navigation device and encoder provided by the present invention are introduced in detail, and the principle and implementation of the present invention are explained in detail by applying specific examples, and the description of the above embodiments is only used to help understanding the method and core ideas of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A positioning method based on an inertial navigation device and an encoder is characterized by comprising the following steps:
measuring initial information of the underground equipment of the mine before the underground equipment starts to work through a lead;
acquiring inertial navigation measurement information of the mine underground equipment through an inertial navigation device;
acquiring mileage information of the mine underground equipment through an encoder;
and determining the geographical position information of the underground mine equipment according to the initial information, the inertial navigation measurement information and the mileage information.
2. The method of claim 1, wherein the initial information includes initial position information, a mileage equivalence, and an installation azimuth error angle of the equipment downhole in the mine, and wherein determining the geographic position information of the equipment downhole in the mine from the initial information, the inertial navigation measurement information, and the mileage information comprises:
and determining the geographical position information of the underground mine equipment according to the initial position information, the mileage equivalent, the installation azimuth error angle, the inertial navigation measurement information and the mileage information.
3. The method of claim 2, wherein prior to the determining initial information for mine downhole equipment, the method further comprises:
acquiring first initial position information, first termination position information, a first preset moving track and first mileage information corresponding to the first preset moving track of the underground mine equipment;
acquiring first inertial navigation measurement information of the underground mine equipment through the inertial navigation device under the condition that the underground mine equipment moves according to the first preset moving track;
and calculating numerical values of the mileage equivalent and the installation azimuth error angle according to the first initial position information, the first termination position information, the first inertial navigation measurement information and the first mileage information.
4. The method of claim 3, further comprising:
acquiring second initial position information, second termination position information, a second preset moving track and second mileage information corresponding to the second preset moving track of the mine underground equipment;
under the condition that the mine underground equipment moves according to the second preset moving track, second inertial navigation measurement information of the mine underground equipment is acquired through the inertial navigation device;
determining second geographical position information of the mine underground equipment according to the second initial position information, the mileage equivalent, the installation azimuth error angle, the second inertial navigation measurement information and the second mileage information;
calculating a position difference between the second geographical position information and the second termination position information;
and judging whether the position difference is larger than a preset difference, and if so, updating the mileage equivalent and the installation azimuth error angle.
5. The method according to any one of claims 1-4, further comprising:
and sending the geographical position information of the underground mine equipment to ground equipment which is in communication connection with the underground mine equipment at preset intervals.
6. A positioning device based on an inertial navigation device and an encoder, comprising:
the system comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for measuring initial information of the underground mine equipment before the underground mine equipment starts to work through a lead;
the first acquisition module is used for acquiring inertial navigation measurement information of the mine underground equipment through an inertial navigation device;
the second acquisition module is used for acquiring mileage information of the mine underground equipment through an encoder;
and the second determination module is used for determining the geographical position information of the underground mine equipment according to the initial information, the inertial navigation measurement information and the mileage information.
7. The apparatus of claim 6, wherein the initial information comprises initial position information, mileage equivalence, and installation azimuth error angle of the mine downhole equipment;
the second determination module is used for determining the geographical position information of the underground mine equipment according to the initial position information, the mileage equivalent, the installation azimuth error angle, the inertial navigation measurement information and the mileage information.
8. The apparatus of claim 7, further comprising:
the first obtaining module is used for obtaining first initial position information, first termination position information, a first preset moving track and first mileage information corresponding to the first preset moving track of the mine underground equipment;
the third acquisition module is used for acquiring first inertial navigation measurement information of the underground mine equipment through the inertial navigation device under the condition that the underground mine equipment moves according to the first preset movement track;
and the first calculation module is used for calculating numerical values of the mileage equivalent and the installation azimuth error angle according to the first initial position information, the first termination position information, the first inertial navigation measurement information and the first mileage information.
9. The apparatus of claim 8, further comprising:
the second acquisition module is used for acquiring second initial position information, second ending position information, a second preset moving track and second mileage information corresponding to the second preset moving track of the mine underground equipment;
the fourth acquisition module is used for enabling the underground mine equipment to move according to the second preset moving track and acquiring second geographical position information of the underground mine equipment through the inertial navigation device;
a second calculation module, configured to calculate a position difference between the second geographical position information and the second termination position information;
and the judging module is used for judging whether the position difference value is larger than a preset difference value or not, and if so, updating the mileage equivalent and the installation azimuth error angle.
10. The apparatus according to any one of claims 6-9, further comprising:
and the sending module is used for sending the geographical position information of the underground mine equipment to the ground equipment which is in communication connection with the underground mine equipment at preset time intervals.
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