CN114088091A - Multi-sensor-based underground mine pose fusion method and system - Google Patents
Multi-sensor-based underground mine pose fusion method and system Download PDFInfo
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- 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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- G—PHYSICS
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0258—Hybrid positioning by combining or switching between measurements derived from different systems
- G01S5/02585—Hybrid positioning by combining or switching between measurements derived from different systems at least one of the measurements being a non-radio measurement
Abstract
The invention discloses a multi-sensor-based underground mine pose fusion method and system, wherein in the method steps, a vehicle position and attitude estimation model based on an Inertial Measurement Unit (IMU) is established; constructing an EKF measurement fusion model of the barometer; compensating the IMU installation error of the inertial measurement unit, and eliminating the arm lever effect of ultra wide band UWB installation; judging and processing the non-line-of-sight condition of the ultra-wideband UWB; constructing an ultra-wideband UWB dual-tag extended Kalman filtering algorithm EKF, and measuring a fusion model; state estimators are obtained, including system position, velocity, attitude. The invention effectively solves the problem of larger positioning error of the UWB in the height direction; the double-tag UWB can solve the heading of the vehicle body, so that the system has complete attitude measurement information, the arm lever effect between the UWB tag installation position and the IMU position is considered, and the influence of the arm lever on the positioning precision is eliminated through a compensation algorithm.
Description
Technical Field
The invention relates to a method and a system for fusing positions and postures of underground mines, in particular to a method and a system for fusing positions and postures of underground mines based on multiple sensors.
Background
The unmanned technology is applied to the industrial and mining wells, green intelligent unmanned transportation equipment for the coal mines is developed, the equipment intelligentization level and centralized management capacity of the mines are improved, and production monitoring and risk identification means are improved. The unmanned technology can effectively solve the problems of high potential safety hazard, high pollution, high energy consumption, low efficiency, short service life, low intelligent level and the like of the existing auxiliary transportation equipment, and can promote the technical progress of intelligent mine construction and coal science.
The underground mine has no Global Navigation Satellite System (GNSS) signal, has the characteristics of long roadway, dark light, humidity and the like, and the vehicle is difficult to directly obtain absolute positioning information, so that the difficulty in realizing accurate navigation positioning is high, which becomes a technical bottleneck for restricting the implementation of unmanned driving of the underground mine. Ultra Wide Band (UWB) location has characteristics such as positioning accuracy height, low-power consumption, security height, signal penetrability are strong, and is very suitable for being applied to the well mining environment that does not have the GNSS signal. The ultra-wideband ranging adopts a time of flight (TOF) ranging mode, and wireless electromagnetic wave transmission time is calculated and then converted into distance. The ranging process includes two devices, a base station and a tag. The label sends information to the base station at a certain moment, the signal reaches the base station after a period of time propagation, the base station sends feedback information to the label after receiving the information of the label, and the distance between the label and the base station can be accurately obtained by recording the propagation time of the round-trip signal after the label receives the feedback information of the base station. However, when the UWB is applied to the mine, the non-line-of-sight phenomena such as signal shielding and reflection also exist, which may cause the increase of UWB positioning error or positioning failure, so that a multi-sensor fusion means is required to obtain accurate and stable positioning information under the mine.
Disclosure of Invention
The invention aims to provide a multi-sensor-based underground mine pose fusion method and system, which are used for judging non-line-of-sight phenomena such as UWB signal shielding, reflection and the like by constructing an Extended Kalman Filtering (EKF) -based state estimation model, improving the positioning precision of UWB in the height direction, acquiring vehicle attitude measurement data and solving the problem of accurate pose measurement in an underground mine environment.
The invention provides the following scheme:
a multi-sensor-based position and orientation fusion method for a mine is characterized in that a sensor specifically comprises: the ultra-wideband UWB, inertial measurement unit IMU and barometer method specifically comprises the following steps:
establishing a vehicle position and attitude estimation model based on an inertial measurement unit IMU;
constructing an extended Kalman filtering EKF measurement fusion model of the barometer;
compensating the IMU installation error of the inertial measurement unit, and eliminating the arm lever effect of ultra wide band UWB installation;
judging and processing the non-line-of-sight condition of the ultra-wideband UWB according to the estimated state of the inertial measurement unit IMU;
constructing an ultra-wideband UWB dual-tag extended Kalman filtering algorithm EKF, and measuring a fusion model;
state estimators are obtained, including system position, velocity, attitude.
Further, a vehicle position and posture estimation model based on an inertial measurement unit IMU is established, and a pose estimation model of a navigation positioning system is established based on IMU measurement data;
define the position of the vehicle as
At a speed of
The attitude quaternion isThe gyroscope has zero bias ofThe accelerometer has zero offset of；
Defining the navigation positioning system state variable as:
the inputs to the kinetic model are:
wherein the content of the first and second substances,the angular velocity measurement value under a body coordinate system is obtained;
the actual angular velocity under a body coordinate system;
measuring noise for angular velocity;the measured value of the acceleration under a body coordinate system is obtained;
the actual acceleration under a body coordinate system is taken as the acceleration;
measuring noise for the accelerometer;
the system process noise is:
wherein the content of the first and second substances,random walk for angular velocity measurement;random walk for acceleration measurement;
the general expression for the state equation, which consists of state variables, system inputs and noise, is:
the corresponding nonlinear differential equation is as follows
Wherein the content of the first and second substances,
the gravity acceleration under the world coordinate system;
a rotation matrix from a body coordinate system to a world coordinate system;to convert rotational angular velocity into a matrix of quaternion rates of change.
Further, constructing an extended Kalman filtering EKF measurement fusion model of the barometer;
according to the local air pressure value, calculating the height:
whereinIs the local air pressure value.
Further, compensate inertial measurement unit IMU installation error, eliminate the armed lever effect of ultra wide band UWB installation:
the installation position of the UWB tag in a vehicle body coordinate system with IMU as an origin is set as；
Installation of IMUThe error angles are error pitch angles respectivelyError roll angleSum error azimuth
；
The arm of the UWB tag in the IMU coordinate system is:
wherein the content of the first and second substances,
the position of the UWB tag in the navigation coordinate system is:。
further, according to the IMU estimation state of the inertial measurement unit, judging and processing the non-line-of-sight condition of the ultra-wideband UWB:
because obstacles may exist in the UWB measurement process to shield, non-line-of-sight errors NLOS exist in the ranging information, and the errors need to be judged before the filter is fused; in order to fully utilize UWB ranging information, the UWB base stations are considered to be independent of each other, and a measurement updating mode of dynamic change of measurement equation dimension is adopted.
The ranging residual is represented as:
wherein:refers to the residual values of the inertial measurement unit IMU,refers to the residual value of the ultra-wideband UWB;
judging whether the NLOS is abnormal or not according to the residual value;
UWB ranging data availability
Wherein the content of the first and second substances,
and the distance measurement residual error is a non-line-of-sight empirical threshold value, and the distance measurement information is discarded when the distance measurement residual error is larger than the threshold value.
Further, constructing a UWB dual-tag extended Kalman filter EKF measurement fusion model:
the output of the navigation system is:
at the same time, the moment is measured to obtain the carrier
Distance of UWB base station is
Here, the distance measurement value is used as the measurement information of the filter;
if the distance measurement is normal, the number of the base stations is
Then the observed quantity is defined as:
the filter observation equation is:
。
the utility model provides a mine industry position appearance fusion system based on multisensor which characterized in that, this fusion system specifically includes:
the attitude estimation model module is used for establishing a vehicle position and attitude estimation model based on an inertial measurement unit IMU;
the EKF measurement fusion module is used for constructing an extended Kalman filtering EKF measurement fusion model of the barometer;
the error compensation module is used for compensating the installation error of the inertial measurement unit IMU and eliminating the arm lever effect of ultra wide band UWB installation;
the non-line-of-sight condition of the ultra-wideband UWB is judged and processed according to the estimated state of the inertial measurement unit IMU;
the EKF measurement fusion module is used for constructing an EKF (extended Kalman Filter) of an ultra-wideband UWB (ultra-wideband UWB) dual-tag EKF and measuring a fusion model;
state estimators are obtained, including system position, velocity, attitude.
Further, in the attitude estimation model module:
define the position of the vehicle as
At a speed ofThe attitude quaternion is
The gyroscope has zero bias of
The accelerometer has zero offset of；
Will navigateThe positioning system state variables are defined as:
the inputs to the kinetic model are:
wherein the content of the first and second substances,the angular velocity measurement value under a body coordinate system is obtained;
the actual angular velocity under a body coordinate system;
measuring noise for angular velocity;the measured value of the acceleration under a body coordinate system is obtained;
the actual acceleration under a body coordinate system is taken as the acceleration;
measuring noise for the accelerometer;
the system process noise is:
wherein the content of the first and second substances,
random walk for angular velocity measurement;
random walk for acceleration measurement;
from state variables, system inputs andthe general expression of the state equation formed by the noise is as follows:
the corresponding nonlinear differential equation is as follows
Wherein the content of the first and second substances,the gravity acceleration under the world coordinate system;a rotation matrix from a body coordinate system to a world coordinate system;is a matrix that converts angular rotation velocity to quaternion rate of change;
in the EKF measurement fusion module: compensate inertia measurement unit IMU installation error, eliminate the armed lever effect of ultra wide band UWB installation:
the installation position of the UWB tag in a vehicle body coordinate system with IMU as an origin is set as；
Setting the installation error angles of the IMU as error pitch angles respectivelyError roll angle
Sum error azimuth
；
The arm of the UWB tag in the IMU coordinate system is:
wherein the content of the first and second substances,
the position of the UWB tag in the navigation coordinate system is:
。
further, the error compensation module: the method is used for compensating the IMU installation error of the inertial measurement unit and eliminating the arm lever effect of ultra wide band UWB installation:
the installation position of the UWB tag in a vehicle body coordinate system with IMU as an origin is set as
；
Setting the installation error angles of the IMU as error pitch angles respectively
Error roll angleSum error azimuth
；
The arm of the UWB tag in the IMU coordinate system is:
wherein the content of the first and second substances,
the position of the UWB tag in the navigation coordinate system is:。
further, the UWB dual-tag extended Kalman filter EKF measurement fusion module is used for constructing an ultra-wideband UWB dual-tag extended Kalman filter EKF, and the measurement fusion model is as follows:
the output of the navigation system is:
at the same time, the moment is measured to obtain the carrierDistance of UWB base station isHere, the distance measurement value is used as the measurement information of the filter;
if the distance measurement is normal, the number of the base stations is
Then the observed quantity is defined as:
the filter observation equation is:。
compared with the prior art, the invention has the following advantages:
the invention provides a fusion positioning and attitude determination scheme composed of IMU, barometer, dual-tag UWB and other sensors. The IMU can obtain the system prediction state of continuous high frequency and can judge the UWB non-line-of-sight condition; the barometer adopts a relative height fusion mode, so that the problem of large positioning error of the UWB in the height direction is effectively solved; the double-label UWB can resolve the heading of the vehicle body, so that the system has complete attitude measurement information.
The method is applied to navigation positioning of the unmanned underground mine vehicle, an IMU installation error compensation model is constructed, and the influence of the IMU installation error on the navigation positioning precision is eliminated; a double-label UWB arm movement model is established, the arm effect between the UWB label installation position and the IMU position is considered, and the influence of the arm on the positioning precision is eliminated through a compensation algorithm.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is an overall system architecture diagram of the present invention.
Fig. 3 is a schematic diagram of the principle of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The central idea of the invention is that by adopting an IMU, an barometer, two UWB positioning tags, more than four UWB base stations and an industrial personal computer as hardware equipment, a UWB non-line-of-sight, IMU installation error and UWB arm effect calculation model is established by constructing a state equation with the IMU as a core and establishing a barometer and a UWB observation equation, so that the unmanned vehicle accurate position, speed and attitude fusion resolving under a GNSS signal-free underground mine environment is realized, and accurate and stable navigation positioning information can be provided for an underground mine unmanned system. To achieve the above object, the present invention discloses the following embodiments:
example 1: as shown in fig. 1, the multi-sensor-based position and orientation fusion method for the underground mine specifically comprises the following steps: the ultra-wideband UWB, inertial measurement unit IMU (inertial sensor), barometer, on the premise of having the above-mentioned sensor, the method of this embodiment specifically includes:
step S1: establishing a vehicle position and attitude estimation model based on an inertial measurement unit IMU;
step S2: constructing an extended Kalman filtering EKF measurement fusion model of the barometer;
step S3: compensating the IMU installation error of the inertial measurement unit, and eliminating the arm lever effect of ultra wide band UWB installation;
step S4: judging and processing the non-line-of-sight condition of the ultra-wideband UWB according to the estimated state of the inertial measurement unit IMU;
step S5: constructing an ultra-wideband UWB dual-tag extended Kalman filtering algorithm EKF, and measuring a fusion model;
step S6: state estimators are obtained, including system position, velocity, attitude.
According to the technical content disclosed by the embodiment, the state equation with the IMU as the core is established, the barometer and the UWB observation equation are established, the UWB non-line-of-sight, IMU installation error and UWB arm lever effect calculation model is established, and unmanned vehicle accurate position, speed and attitude fusion resolving under the GNSS signal-free underground mining environment is achieved.
Example 2: the present embodiment is based on embodiment 1, and is a further improvement based on embodiment 1, except for the specific technical means of the present embodiment, other contents of the present embodiment are completely the same as embodiment 1, and are not repeated for brevity. The present embodiment may be combined with any of the embodiments disclosed in the present invention to form further embodiments as long as there is no substantial conflict in the technical contents.
Step S1: establishing a vehicle position and attitude estimation model based on an inertial measurement unit IMU, and establishing a pose estimation model of a navigation positioning system based on IMU measurement data:
define the position of the vehicle as
At a speed of
The attitude quaternion is
The gyroscope has zero bias of
The accelerometer has zero offset of
；
Defining the navigation positioning system state variable as:
the inputs to the kinetic model are:
wherein the content of the first and second substances,
the angular velocity measurement value under a body coordinate system is obtained;
the actual angular velocity under a body coordinate system;
measuring noise for angular velocity;the measured value of the acceleration under a body coordinate system is obtained;
the actual acceleration under a body coordinate system is taken as the acceleration;
measuring noise for the accelerometer;
the system process noise is:
wherein the content of the first and second substances,
random walk for angular velocity measurement;
random walk for acceleration measurements.
The general expression for the state equation, which consists of state variables, system inputs and noise, is:
the corresponding nonlinear differential equation is as follows
Wherein the content of the first and second substances,the gravity acceleration under the world coordinate system;
a rotation matrix from a body coordinate system to a world coordinate system;to convert rotational angular velocity into a matrix of quaternion rates of change.
Step S2: constructing an extended Kalman filtering EKF measurement fusion model of the barometer;
example 3:
the present embodiment is based on embodiments 1 and 2, and is a further improvement based on embodiments 1 and 2, except for the specific technical means of the present embodiment, other contents of the present embodiment are completely the same as those of embodiments 1 and 2, and are not repeated for brevity. The present embodiment may be combined with any of the embodiments disclosed in the present invention to form further embodiments as long as there is no substantial conflict in the technical contents.
Based on example 2, the height is calculated according to the local air pressure value:。
example 4:
the present embodiment is based on the embodiments 1 to 3, and is a further improvement based on the embodiments 1 to 3, except for the specific technical means of the present embodiment, other contents of the present embodiment are completely the same as those of the embodiments 1 to 3, and are not repeated for brevity. The present embodiment may be combined with any of the embodiments disclosed in the present invention to form further embodiments as long as there is no substantial conflict in the technical contents.
Step S3: compensating the IMU installation error of the inertial measurement unit, and eliminating the arm lever effect of ultra wide band UWB installation;
the installation position of the UWB tag in a vehicle body coordinate system with IMU as an origin is set as
；
Setting the installation error angles of the IMU as error pitch angles respectively
Error roll angle
Sum error azimuth
；
The arm of the UWB tag in the IMU coordinate system is:
wherein the content of the first and second substances,
the position of the UWB tag in the navigation coordinate system is:。
example 5:
this embodiment is based on embodiments 1 to 4, and is a further improvement based on embodiments 1 to 4, except for the specific technical means of this embodiment, other contents of this embodiment are completely the same as those of embodiments 1 to 4, and are not repeated for brevity. The present embodiment may be combined with any of the embodiments disclosed in the present invention to form further embodiments as long as there is no substantial conflict in the technical contents.
Step S4: judging and processing the non-line-of-sight condition of the ultra-wideband UWB according to the estimated state of the inertial measurement unit IMU;
because obstacles may exist in the UWB measurement process to shield, non-line-of-sight errors NLOS exist in the ranging information, and the errors need to be judged before the filter is fused; in order to fully utilize UWB ranging information, the UWB base stations are considered to be independent of each other, and a measurement updating mode of dynamic change of measurement equation dimension is adopted.
The ranging residual may be represented as:
wherein:
refers to the residual values of the inertial measurement unit IMU,refers to the residual value of the ultra-wideband UWB;
judging whether the NLOS is abnormal or not according to the residual value;
UWB ranging data availability
Wherein the content of the first and second substances,
the non-line-of-sight empirical threshold, and the ranging information is discarded when the ranging residual is greater than the threshold.
Example 6: this embodiment is based on embodiments 1 to 5, and is a further improvement based on embodiments 1 to 5, except for the specific technical means of this embodiment, other contents of this embodiment are completely the same as those of embodiments 1 to 5, and are not repeated for brevity. The present embodiment may be combined with any of the embodiments disclosed in the present invention to form further embodiments as long as there is no substantial conflict in the technical contents.
Step S5: constructing an ultra-wideband UWB dual-tag extended Kalman filtering algorithm EKF, and measuring a fusion model;
step S6: state estimators are obtained, including system position, velocity, attitude.
In step S5: the output of the navigation system is:
at the same time, the moment is measured to obtain the carrier
Distance of UWB base station is
Here, the distance measurement value is used as the measurement information of the filter;
if the distance measurement is normal, the number of the base stations isThen the observed quantity is defined as:
the filter observation equation is:
。
embodiments 1-6 disclose a multi-sensor-based position and orientation fusion method for a mine, and based on the methods of embodiments 1-6, the invention also discloses a system corresponding to the method, wherein the method comprises the following steps:
example 7: as shown in fig. 2, the multi-sensor-based position and orientation fusion system for a borehole and mine specifically comprises:
the attitude estimation model module is used for establishing a vehicle position and attitude estimation model based on an inertial measurement unit IMU;
the EKF measurement fusion module is used for constructing an extended Kalman filtering EKF measurement fusion model of the barometer;
the error compensation module is used for compensating the installation error of the inertial measurement unit IMU and eliminating the arm lever effect of ultra wide band UWB installation;
the non-line-of-sight condition of the ultra-wideband UWB is judged and processed according to the estimated state of the inertial measurement unit IMU;
the UWB dual-tag EKF measurement fusion module is used for constructing an ultra-wideband UWB dual-tag extended Kalman filtering algorithm EKF and measuring a fusion model;
state estimators are obtained, including system position, velocity, attitude.
It should be noted that, although only the attitude estimation model module, the EKF measurement fusion module, the error compensation module, the ultra-wideband UWB non-line-of-sight module and the UWB dual-tag EKF measurement fusion module are disclosed in the text description and the architecture diagram of the present invention, this does not mean that the multi-sensor based minery and mining pose fusion system is limited to the above-mentioned modules, but rather, this patent application is intended to express that one skilled in the art can add one or more functional modules arbitrarily in combination with the prior art on the basis of the above-mentioned basic modules to form an infinite number of embodiments or technical solutions, that is, the present system is open rather than closed, and it cannot be considered that the protection scope of the claims of this patent application is limited to the disclosed basic functional modules because only individual basic functional modules are disclosed.
Example 8: this embodiment is based on embodiments 1 to 7, and is a further improvement based on embodiments 1 to 7, except for the specific technical means of this embodiment, other contents of this embodiment are completely the same as those of embodiments 1 to 7, and are not repeated for brevity. The present embodiment may be combined with any of the embodiments disclosed in the present invention to form further embodiments as long as there is no substantial conflict in the technical contents.
Example 9:
this embodiment is based on embodiments 1 to 8, and is a further improvement based on embodiments 1 to 8, except for the specific technical means of this embodiment, other contents of this embodiment are completely the same as those of embodiments 1 to 8, and are not repeated for brevity. The present embodiment may be combined with any of the embodiments disclosed in the present invention to form further embodiments as long as there is no substantial conflict in the technical contents.
In the attitude estimation model module:
define the position of the vehicle as
At a speed ofThe attitude quaternion is
The gyroscope has zero bias of
The accelerometer has zero offset of
；
Defining the navigation positioning system state variable as:
the inputs to the kinetic model are:
wherein the content of the first and second substances,the angular velocity measurement value under a body coordinate system is obtained;the actual angular velocity under a body coordinate system;measuring noise for angular velocity;
the measured value of the acceleration under a body coordinate system is obtained;
the actual acceleration under a body coordinate system is taken as the acceleration;
measuring noise for the accelerometer;
the system process noise is:
wherein the content of the first and second substances,
random walk for angular velocity measurement;
random walk for acceleration measurement;
the general expression for the state equation, which consists of state variables, system inputs and noise, is:
the corresponding nonlinear differential equation is as follows
Wherein the content of the first and second substances,
the gravity acceleration under the world coordinate system;
a rotation matrix from a body coordinate system to a world coordinate system;
is a matrix that converts angular rotation velocity to quaternion rate of change;
in the EKF measurement fusion module: compensate inertia measurement unit IMU installation error, eliminate the armed lever effect of ultra wide band UWB installation:
the installation position of the UWB tag in a vehicle body coordinate system with IMU as an origin is set as；
Setting the installation error angles of the IMU as error pitch angles respectively
Error roll angle
Sum error azimuth
；
The arm of the UWB tag in the IMU coordinate system is:
wherein the content of the first and second substances,
the position of the UWB tag in the navigation coordinate system is:。
example 10:
this embodiment is based on embodiments 1 to 9, and is a further improvement based on embodiments 1 to 9, except for the specific technical means of this embodiment, other contents of this embodiment are completely the same as those of embodiments 1 to 9, and are not repeated for brevity. The present embodiment may be combined with any of the embodiments disclosed in the present invention to form further embodiments as long as there is no substantial conflict in the technical contents.
An error compensation module: the method is used for compensating the IMU installation error of the inertial measurement unit and eliminating the arm lever effect of ultra wide band UWB installation:
the installation position of the UWB tag in a vehicle body coordinate system with IMU as an origin is set as
；
Setting the installation error angles of the IMU as error pitch angles respectively
Error roll angle
Sum error azimuth；
The arm of the UWB tag in the IMU coordinate system is:
wherein the content of the first and second substances,
the position of the UWB tag in the navigation coordinate system is:。
example 11:
this embodiment is based on embodiments 1 to 10, and is a further improvement based on embodiments 1 to 10, except for the specific technical means of this embodiment, other contents of this embodiment are completely the same as those of embodiments 1 to 10, and are not repeated for brevity. The present embodiment may be combined with any of the embodiments disclosed in the present invention to form further embodiments as long as there is no substantial conflict in the technical contents.
The UWB dual-tag extended Kalman filtering EKF measurement fusion module is used for constructing an ultra-wideband UWB dual-tag extended Kalman filtering EKF, and is characterized in that the measurement fusion module comprises:
the output of the navigation system is:
at the same time, the moment is measured to obtain the carrier
Distance of UWB base station isHere, the distance measurement value is used as the measurement information of the filter;
if the distance measurement is normal, the number of the base stations isThen the observed quantity is defined as:
the filter observation equation is:。
example 12:
this embodiment is based on embodiments 1 to 11, and is a further improvement based on embodiments 1 to 11, except for the specific technical means of this embodiment, other contents of this embodiment are completely the same as those of embodiments 1 to 10, and are not repeated for brevity. The present embodiment may be combined with any of the embodiments disclosed in the present invention to form further embodiments as long as there is no substantial conflict in the technical contents.
Step S1: establishing an IMU-based vehicle position and attitude estimation model, which comprises the following specific steps:
the general expression of the state equation composed of state variables, system inputs and noise is
The corresponding nonlinear differential equation of the above equation of state is as follows
The expression is as follows
Since the extended kalman filter EKF needs to adopt a linearized expression in the process of predicting and updating the state, the nonlinear differential equation needs to be linearized. The jacobian matrix expression of the differential equation with respect to the state variables can be obtained by linearization:
wherein:
the jacobian matrix of the state equation for process noise is:
based on the jacobian matrix, the following discretized state equation can be established:
wherein the content of the first and second substances,
in order for the state transition matrix to be available,
is a discretized input matrix. Let EKF filter update period be
Then their expressions are:
in order to improve the prediction precision of the state variable, a four-order Runge Kutta method is adopted to solve the differential equation.
The integral update expression of the state variable is as follows:
after the state prediction is completed, the quaternion is required to be normalized, the sum matrix is recalculated, and then the covariance is predicted using the following formula:
step S2: an extended Kalman filtering EKF measurement fusion model of the barometer is constructed, and the method specifically comprises the following steps:
the barometer can calculate the current height by adopting a conversion relation of air pressure and altitude according to the local air pressure value. In order to avoid the influence of the system error of the barometer on the height calculation, the relative height of the barometer is adopted as an observed value in the scheme. The altitude at the initial moment is used as a reference value, and then the relative height between the current height and the reference height is calculated in real time. The expression is as follows:
step S3: IMU installation errors are compensated for, eliminating UWB-mounted lever effects. The method comprises the following specific steps:
the installation position of the UWB tag in a vehicle body coordinate system with IMU as an origin is set as
Setting the installation error angle of IMU as error pitch angle
Error roll angle
Sum error azimuth
Then, the arm of the UWB tag in the IMU coordinate system is:
the position of the UWB tag in the navigation coordinate system is:
step S4: and judging and processing the UWB non-line-of-sight condition according to the IMU estimation state. The method comprises the following specific steps:
the UWB two-way round-trip ranging determines the distance between the tag and the base station through the round-trip time of the pulse signal from the tag to the base station, does not need the base station and time synchronization with the tag, and can eliminate time synchronization errors in ranging. The label sends a pulse signal added with the identification to the base station, the base station identifies the identification and sends a response pulse to the label after receiving the pulse signal, and the label receives the response pulse signal.
Taking into account the standard time deviationAnd non-line-of-sight error
Then, the model can be expressed as:
wherein the content of the first and second substances,the influencing factors include fixed time delay errors of the tag and the base station, UWB device errors, UWB successive starting errors, pulse signal propagation distance, temperature and the like.
Therefore, the first and second electrodes are formed on the substrate,can be expressed as:
wherein the content of the first and second substances,constant value errors caused by fixed time delay, device errors, successive starting errors, external environments and the like;
the error associated with measuring the distance can be considered as a polynomial function of the distance;is the system noise.
According to the analysis, before the UWB equipment is used, the UWB equipment needs to be calibrated, and if the equipment in the same batch has better error consistency, only one equipment needs to be calibrated. When the temperature and the atmospheric pressure environment are constant, the label and the base station can be placed on a plurality of groups of fixed distances under the complete LOS environment, a plurality of groups of data are collected on each point position, the average is taken to obtain a UWB distance measurement value, and an error model of standard time deviation can be determined in a fitting mode because the real distance value of the fixed point position is known.
For non-line-of-sight errorsDuring the process of fusing with IMU data, the pose calculation can be carried out through the IMU, and the judgment can be carried out according to the threshold value
If it is within the normal range, the distance measurement is discarded if the threshold is exceeded.
Because obstacles may exist in the UWB measurement process to shield, non-line-of-sight errors NLOS exist in the ranging information, and the errors need to be judged before the filter is fused. In order to fully utilize UWB ranging information, the UWB base stations are considered to be independent of each other, and a measurement updating mode of dynamic change of measurement equation dimension is adopted.
The ranging residual may be represented as:
wherein:
refers to the residual values of the inertial measurement unit IMU,
refers to the residual value of the ultra-wideband UWB;
based on the above residual value, it can be determined whether NLOS is abnormal
NLOS too large or data abnormal
UWB ranging data availability
Wherein the content of the first and second substances,
the non-line-of-sight empirical threshold, and the ranging information is discarded when the ranging residual is greater than the threshold.
Step S5: and constructing a UWB (ultra wide band) dual-tag extended Kalman filtering EKF (extended Kalman Filter) measurement fusion model. The method comprises the following specific steps:
due to the observation equation expression of the barometer:
the distance observation equation of the UWB tag and the base station is as follows:
therefore, the output of the overall system is:
at the same time, the moment is measured to obtain the carrier
Distance of UWB base station is
Here, the distance measurement value is used as the measurement information of the filter.
If the distance measurement is normal, the number of the base stations isThen the observed quantity can be defined as:
therefore, the observation equation expression of the filter of the navigation positioning system is as follows:
by constructing an observation equation and calculating a partial derivative, an observation sensitivity matrix can be obtained as follows:
wherein:
according to the above observation equation, the measurement update can be performed by:
and calculating a filter updating gain matrix.
The filter state variables are updated.
The filter covariance is updated.
According to the observation equation, the IMU measurement, the barometer and the UWB measurement data can be fused by adopting an extended Kalman filtering algorithm, and state estimators of the system such as position, speed and attitude are obtained.
As shown in fig. 3, the schematic diagram of the principles of the present invention is that 1 IMU, 1 barometer, 2 UWB positioning tags, more than 4 UWB base stations, and 1 industrial personal computer are used as hardware devices, and by constructing a state equation with the IMU as a core, establishing a barometer and a UWB observation equation, and establishing a UWB non-line-of-sight, IMU installation error, and UWB boom effect calculation model, the unmanned vehicle accurate position, speed, and attitude fusion resolving in a GNSS signal-free mine environment is achieved, and accurate and stable navigation positioning information can be provided for a mine unmanned system.
The above-described embodiments of the apparatus are merely schematic, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
In the several embodiments provided by the present invention, it should be understood that the disclosed system and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A multi-sensor-based position and orientation fusion method for a mine is characterized in that a sensor specifically comprises: the ultra-wideband UWB, inertial measurement unit IMU and barometer method specifically comprises the following steps:
establishing a vehicle position and attitude estimation model based on an inertial measurement unit IMU;
constructing an extended Kalman filtering EKF measurement fusion model of the barometer;
compensating the IMU installation error of the inertial measurement unit, and eliminating the arm lever effect of ultra wide band UWB installation;
judging and processing the non-line-of-sight condition of the ultra-wideband UWB according to the estimated state of the inertial measurement unit IMU;
constructing an ultra-wideband UWB dual-tag extended Kalman filtering algorithm EKF, and measuring a fusion model;
state estimators are obtained, including system position, velocity, attitude.
2. The multi-sensor-based position and orientation fusion method for the underground mine, according to claim 1, is characterized in that a vehicle position and orientation estimation model based on an Inertial Measurement Unit (IMU) is established, and a position and orientation estimation model of a navigation positioning system is established based on IMU measurement data;
define the position of the vehicle as
At a speed of
The attitude quaternion is
The gyroscope has zero bias ofThe accelerometer has zero offset of；
Defining the navigation positioning system state variable as:
the inputs to the kinetic model are:
wherein the content of the first and second substances,the angular velocity measurement value under a body coordinate system is obtained;
the actual angular velocity under a body coordinate system;measuring noise for angular velocity;
the measured value of the acceleration under a body coordinate system is obtained;the actual acceleration under a body coordinate system is taken as the acceleration;measuring noise for the accelerometer;
the system process noise is:
wherein the content of the first and second substances,random walk for angular velocity measurement;
random walk for acceleration measurement;
the general expression for the state equation, which consists of state variables, system inputs and noise, is:
the corresponding nonlinear differential equation is as follows
Wherein the content of the first and second substances,
the gravity acceleration under the world coordinate system;
a rotation matrix from a body coordinate system to a world coordinate system;to convert rotational angular velocity into a matrix of quaternion rates of change.
3. The multi-sensor-based underground mine pose fusion method according to claim 1, characterized by constructing an Extended Kalman Filter (EKF) measurement fusion model of a barometer;
according to the local air pressure value, calculating the height:
wherein
Is the local air pressure value.
4. The multi-sensor-based mine construction pose fusion method according to claim 1, wherein inertial measurement unit IMU installation errors are compensated to eliminate ultra-wideband UWB-mounted boom effects:
the installation position of the UWB tag in a vehicle body coordinate system with IMU as an origin is set as；
Setting the installation error angles of the IMU as error pitch angles respectively
Error roll angle
Sum error azimuth；
The arm of the UWB tag in the IMU coordinate system is:
wherein the content of the first and second substances,
the position of the UWB tag in the navigation coordinate system is:
。
5. the multi-sensor-based mine construction pose fusion method according to claim 1, wherein the non-line-of-sight condition of ultra-wideband UWB is judged and processed according to the estimated state of inertial measurement unit IMU:
the ranging residual is represented as:
wherein:
refer to the residual value of the inertial measurement unit IMU，
Refers to the residual value of the ultra-wideband UWB;
judging whether the NLOS is abnormal or not according to the residual value;
UWB ranging data availability
Wherein the content of the first and second substances,and the distance measurement residual error is a non-line-of-sight empirical threshold value, and the distance measurement information is discarded when the distance measurement residual error is larger than the threshold value.
6. The multi-sensor-based underground mine pose fusion method according to claim 1, wherein a UWB dual-tag extended Kalman filter EKF measurement fusion model is constructed:
the output of the navigation system is:
at the same time, the moment is measured to obtain the carrierDistance of UWB base station is
Here, the distance measurement value is used as the measurement information of the filter;
if the distance measurement is normal, the number of the base stations isThen the observed quantity is defined as:
the filter observation equation is:。
7. the utility model provides a mine industry position appearance fusion system based on multisensor which characterized in that, this fusion system specifically includes:
the attitude estimation model module is used for establishing a vehicle position and attitude estimation model based on an inertial measurement unit IMU;
the EKF measurement fusion module is used for constructing an extended Kalman filtering EKF measurement fusion model of the barometer;
the error compensation module is used for compensating the installation error of the inertial measurement unit IMU and eliminating the arm lever effect of ultra wide band UWB installation;
the non-line-of-sight condition of the ultra-wideband UWB is judged and processed according to the estimated state of the inertial measurement unit IMU;
the EKF measurement fusion module is used for constructing an EKF (extended Kalman Filter) of an ultra-wideband UWB (ultra-wideband UWB) dual-tag EKF and measuring a fusion model;
state estimators are obtained, including system position, velocity, attitude.
8. The multi-sensor based minery pose fusion system of claim 7, wherein in the pose prediction model module:
define the position of the vehicle asAt a speed of
The attitude quaternion is
The gyroscope has zero bias of
The accelerometer has zero offset of；
Defining the navigation positioning system state variable as:
the inputs to the kinetic model are:
wherein the content of the first and second substances,the angular velocity measurement value under a body coordinate system is obtained;the actual angular velocity under a body coordinate system;
measuring noise for angular velocity;the measured value of the acceleration under a body coordinate system is obtained;the actual acceleration under a body coordinate system is taken as the acceleration;measuring noise for the accelerometer;
the system process noise is:
wherein the content of the first and second substances,random walk for angular velocity measurement;random walk for acceleration measurement;
the general expression for the state equation, which consists of state variables, system inputs and noise, is:
the corresponding nonlinear differential equation is as follows
Wherein the content of the first and second substances,
the gravity acceleration under the world coordinate system;
a rotation matrix from a body coordinate system to a world coordinate system;
is a matrix that converts angular rotation velocity to quaternion rate of change;
in the EKF measurement fusion module: compensate inertia measurement unit IMU installation error, eliminate the armed lever effect of ultra wide band UWB installation:
the installation position of the UWB tag in a vehicle body coordinate system with IMU as an origin is set as；
Setting the installation error angles of the IMU as error pitch angles respectively
Error roll angleSum error azimuth
；
The arm of the UWB tag in the IMU coordinate system is:
wherein the content of the first and second substances,
the position of the UWB tag in the navigation coordinate system is:
。
9. the multi-sensor based mine pose fusion system of claim 7, wherein the error compensation module: the method is used for compensating the IMU installation error of the inertial measurement unit and eliminating the arm lever effect of ultra wide band UWB installation:
the installation position of the UWB tag in a vehicle body coordinate system with IMU as an origin is set as；
Setting the installation error angles of the IMU as error pitch angles respectively
Error roll angle
Sum error azimuth；
The arm of the UWB tag in the IMU coordinate system is:
wherein the content of the first and second substances,
the position of the UWB tag in the navigation coordinate system is:。
10. the multi-sensor-based mine and mine pose fusion system according to claim 7, wherein the UWB dual-tag extended Kalman filter EKF measurement fusion module is used for constructing an ultra-wideband UWB dual-tag extended Kalman filter EKF, and the measurement fusion model comprises:
the output of the navigation system is:
meanwhile, the distance from the carrier to the first UWB base station is obtained by measurement at the momentUsing distance measurements as filtersAmount information;
if the distance measurement is normal, the number of the base stations is
Then the observed quantity is defined as:
the filter observation equation is:
。
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