CN114689012B - Vertical guiding system and guiding method for attitude measurement of vertical heading machine - Google Patents

Vertical guiding system and guiding method for attitude measurement of vertical heading machine Download PDF

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Publication number
CN114689012B
CN114689012B CN202210489599.4A CN202210489599A CN114689012B CN 114689012 B CN114689012 B CN 114689012B CN 202210489599 A CN202210489599 A CN 202210489599A CN 114689012 B CN114689012 B CN 114689012B
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vertical
heading machine
axis
gyroscope
detection target
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CN114689012A (en
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吴志洋
杨正凡
丁晓辉
杨甜甜
王慈航
王龙驹
郭素阳
徐胜
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Tianhe Mechanical Equipment Manufacturing Co Ltd
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Tianhe Mechanical Equipment Manufacturing Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G01C15/008—Active optical surveying means combined with inclination sensor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/10—Plumb lines
    • G01C15/105—Optical plumbing

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Gyroscopes (AREA)

Abstract

The invention provides a vertical guiding system and a guiding method for measuring the attitude of a vertical heading machine, wherein a vertical heading machine is provided with a measuring channel for transmitting emitted light of a plumb aligner and a laser range finder, the emitting direction of the plumb aligner vertically faces downwards to a laser detection target, and the laser range finder measures the vertical distance between a working platform of the guiding system and the plumb aligner; the X axis of the laser detection target and the X axis of the anti-vibration detector are consistent with the direction of north on the gyroscope, the X axis of the laser detection target is anticlockwise rotated by 90 degrees to be defined as a Y axis, and a coordinate system of the vertical guiding system is established. According to the invention, a measuring channel is opened on the vertical tunneling machine for the emitted light of the plumb aligner and the laser range finder to pass through, and the gyroscope is used for self-rotation angle measurement of the tunneling machine, so that the absolute position of the tunneling machine when the tunneling machine starts can be measured, and the X-axis pitch angle and the Y-axis pitch angle of the anti-seismic inclinometer can be retested according to the roll angle and the pitch angle on the gyroscope.

Description

Vertical guiding system and guiding method for attitude measurement of vertical heading machine
Technical Field
The invention relates to a heading machine, in particular to a vertical heading machine.
Background
Heading machines are generally classified into horizontal heading machines and shaft heading machines, and in the construction process of the shaft heading machines, a shaft guiding system is an important system for monitoring the position and the posture of a hard rock vertical heading machine in real time. The system can grasp the position and the posture of the vertical heading machine in real time, so that the vertical heading machine can accurately heading according to a preset line, and the accurate penetration of a vertical shaft is ensured. At present, the guiding system of the shaft boring machine is very few. At present, the following technical schemes for measuring the attitude of the heading machine mainly exist: according to the first scheme, the displacement measuring system is used for measuring the horizontal displacement offset of the vertical tunneling machine shaft line and the attitude measuring system is used for measuring the tunneling angle offset of the vertical shaft heading machine shaft line, but the autorotation problem of the tunneling machine in actual work is not considered, the autorotation angle of the tunneling machine is not corrected in time, so that the working performance or the service life of part of equipment is weakened, the autorotation angle of the tunneling machine also influences the measurement of the horizontal displacement offset, and the horizontal displacement offset measured according to the scheme has larger error. In the second scheme, the double-photosensitive targets and the double-shaft inclinometer are used for acquiring related data and calculating the current inclination pitching attitude, offset and rolling angle of the heading machine, but the requirement of the double-photosensitive targets on the installation synchronism of the heading machine is high, the synchronism of light spot change is difficult to ensure in a complex environment, and the offset and rolling angle of the heading machine cannot be accurately calculated finally without considering the error of the artificial installation and measurement equipment.
Disclosure of Invention
The invention aims to: the vertical guiding system and the guiding method for the attitude measurement of the vertical heading machine can compensate installation errors, do not need to consider factors such as complex environments and the like, and have universal applicability.
The technical scheme is as follows: the vertical guiding system for measuring the attitude of the vertical heading machine comprises a vertical heading machine arranged in a vertical shaft hole, a plumb aligner arranged at the opening of the vertical shaft hole, a guiding system working platform fixed in the vertical shaft heading machine, a laser detection target, a laser range finder, a gyroscope, an anti-seismic inclinometer, a data transmission unit and a data processing unit, wherein the laser detection target, the laser range finder, the gyroscope and the anti-seismic inclinometer are respectively connected with the data transmission unit, and the data transmission unit is connected with the data processing unit;
the vertical shaft heading machine is provided with a measuring channel for the emitted light of the plumb aligner and the laser range finder to pass through, the emitting direction of the plumb aligner vertically faces downwards to the laser detection target, and the laser range finder measures the vertical distance between the working platform of the guiding system and the plumb aligner; the X axis of the laser detection target and the X axis of the anti-vibration detector are consistent with the north direction of the gyroscope, the X axis of the laser detection target is anticlockwise rotated by 90 degrees to be defined as a Y axis, and a coordinate system of the vertical guiding system is established.
Further, the plumb aligner is mounted on the adjustable support to move in two directions perpendicular to each other on a horizontal plane.
Further, adjustable support is including fixing backplate on the wall of the cave, laminating backplate horizontal sliding connection's sliding plate, one end is fixed on the sliding plate and two support arms that the level stretches out and the fixed plate of connecting two support arm other ends, all be equipped with the spout on the support arm, the fixing bolt of plumb standard appearance slides in the spout.
Further, the adjustable bracket is also provided with a reflecting plate facing the laser range finder.
Further, the guide system working platform is horizontally arranged and has a smooth surface.
The vertical guiding method for the attitude measurement of the vertical heading machine comprises the following steps:
(1) When the vertical shaft heading machine goes down a well for the first time, defining the north direction of the gyroscope as the initial position of the vertical shaft heading machine;
(2) As the anti-seismic inclinometer is consistent with the coordinate system of the vertical guide system, the pitching angles of the X axis and the Y axis can be measured, and the vertical heading machine is adjusted to be in a horizontal state according to the pitching angles of the X axis and the Y axis;
(3) When the vertical heading machine is in a horizontal state, the plumb aligner is adjusted to enable the laser beam emitted by the plumb aligner to be just shot at the right center of the laser detection target;
(4) At the initial moment, acquiring the central coordinate of a light spot on a laser detection target asThe X-axis pitch angle and the Y-axis pitch angle of the anti-seismic inclinometer are respectively +.>And->The self-rotation angle of the vertical heading machine measured by a gyroscope is +.>Angle of rollAnd Pitch angle->The distance between the reflecting plates measured by the laser range finder is +.>Wherein->，/>；
According to the X-axis pitch angle and the Y-axis pitch angle at the initial moment, the coordinates of the light spot of the heading machine in the horizontal state can be obtained:，/>i.e. the coordinates in the horizontal state are obtained +.>；
According to the data in the initial state of the gyroscope, solving the rotation angle error at the initial moment as follows:
the method comprises the steps of carrying out a first treatment on the surface of the And further obtaining the offset error of the heading machine at the initial moment:
，/>；
(5) The continuous working time of the guiding system is obtained, and the central coordinate of a light spot of the plumb gauge on the laser detection target isAcquiring the X-axis and Y-axis pitch angles of the earthquake-resistant inclinometer at the same time as +.>，/>The self-rotation angle of the vertical heading machine measured at the moment of the gyroscope is acquired to be +.>The distance from the reflecting plate measured by the laser range finder at the moment is obtained to be +.>； />For the horizontal projection coordinates of the central coordinates of the light spots on the laser detection target at the initial moment,for measuring the horizontal projection coordinates of the central coordinates of the light spot on the laser target at the moment +.>The horizontal projection coordinate of the center coordinate of the light spot on the laser detection target of the heading machine under the condition of no offset is as follows:
(1) current rotation angle obtained by gyroscopeRoll angle->And Pitch angle->The error value of the rotation angle is compensated, and the actual rotation angle of the heading machine can be measured to be +.>；
(2) At this point in time,or->Judging that the gyroscope or the anti-seismic inclinometer fails and checking equipment;
(3) the projection of the central coordinates of the light spots in the horizontal state of the heading machine can be calculated according to the X-axis pitch angle and the Y-axis pitch angle of the anti-seismic inclinometerWherein->，/>；
(4) The non-offset coordinate of the light spot center in the horizontal state isCan be defined by->Is the center of a circle>Circle of radius and +.>Straight line intersection:
solving for two points intersecting the circleAnd->；
(5) Because the pitching attitude, the self-rotation angle and the offset of the heading machine are measured in real time in the heading process of the heading machine, the variation is very small, and the heading machine has the following characteristics，/>Discarding;
(6) then byAnd->The offset of the current measurement time heading machine and the initial time heading machine can be obtained as follows: />，/>The actual offset of the heading machine at the moment is obtained by compensating the offset error: />,/>；
(7) The distance between the reflecting plates measured by the laser range finder at the moment is obtained to beThe tunneling well depth of the vertical tunneling machine at the moment is as follows: />。
According to the scheme, a measuring channel is opened on the vertical tunneling machine for the emitted light of the plumb aligner and the laser range finder to pass through, and the gyroscope is used for self-rotation angle measurement of the tunneling machine, so that the absolute position of the tunneling machine when the tunneling machine starts can be measured, retest can be realized on the X-axis pitch angle and the Y-axis pitch angle of the anti-seismic inclinometer according to the roll angle and the pitch angle on the gyroscope, and if the difference of the pitch angle data of the X-axis pitch angle and the Y-axis pitch angle exceeds a preset value in the actual measurement process, the gyroscope or the inclinometer is judged to be out of order, and alarm maintenance is timely carried out. Therefore, the invention does not need to consider factors such as complex environment, has low installation requirement, is suitable for more complex working condition environment, has universal applicability, compensates errors caused by factors such as manual installation and debugging, and has more accurate and reliable measurement result.
Drawings
FIG. 1 is a schematic view of a vertical guidance system of the present invention;
FIG. 2 is a schematic structural view of an adjustable bracket;
FIG. 3 is a schematic diagram of a guiding system coordinate system;
FIG. 4 is a flow chart of a vertical guidance method of the present invention;
fig. 5 is a schematic view of the central coordinate projection of the light spot when the guiding system is in operation.
Detailed Description
A vertical guiding system for measuring the attitude of a vertical heading machine is shown in fig. 1, and comprises a vertical heading machine 12 working in a vertical shaft hole 11, a plumb aligner 2, a reflector 1, a laser detection target 3, a laser range finder 4, an anti-seismic inclinometer 5, a gyroscope 6, a data transmission unit 7 and a data processing unit 8.
The opening of the vertical shaft hole 11 is provided with an adjustable bracket 9, and the plumb bob 2 and the reflecting plate 1 are both arranged on the adjustable bracket 9. As shown in fig. 2, the adjustable bracket 9 includes a back plate 91, a slide plate 92, two support arms 93, and a fixed plate 94. The back plate 91 is fixed on one side to the cavity wall and is slidably connected on the other side to the slide plate 92. Specifically, two sliding grooves are formed in the sliding plate 92, two matched bolts are arranged on the back plate 91, and the sliding plate 92 horizontally slides along the wall of the hole through the corresponding movement of the bolts in the sliding grooves. One end of each of the two horizontally extending support arms 93 is fixed on the sliding plate 92, and the other end is fixedly connected with the other end through a fixing plate 94, wherein the fixing plate 94 is used for maintaining the distance between the two support arms 93 unchanged and stable. The supporting arms 93 are provided with sliding grooves, and the fixing bolts of the plumb standard slide in the sliding grooves. Thus, by moving the slide plate 92 and the plumb in the chute of the support arm 93, the plumb 2 can be moved in two directions perpendicular to the plane for adjusting the position of the spot emitted thereby.
The inside of the shaft boring machine 12 is provided with a horizontal guide system working platform 13 with a smooth surface, and the laser detection target 3, the laser range finder 4, the anti-seismic inclinometer 5 and the gyroscope 6 are arranged on the guide system working platform 13. The light emission direction of the plumb aligner 2 vertically faces downwards to the laser detection target 3, the laser emission direction of the laser range finder 4 vertically faces upwards to the reflector plate 1, the reflector plate 1 can strengthen laser scattering beams, remote measurement is realized, and the distance from the guide system working platform 13 to the reflector plate 1 can be measured. A measuring channel 10 is provided from the upper surface of the shaft boring machine 12 to the guide system working platform 13, through which the light of the plumb bob 2 and the laser distance measuring device 4 passes.
The laser detection target 3, the laser range finder 4, the gyroscope 6 and the anti-seismic inclinometer 5 are respectively connected with the data transmission unit 7, and the data transmission unit 7 is connected with the data processing unit 8. In the embodiment, the data transmission unit 7 is a Moxa server, and the laser detection target 3, the laser range finder 4, the gyroscope 6 and the anti-seismic inclinometer 5 realize the upper end transmission of the data image through an RS485 network port; the data processing unit 8 is a PC, the PC is connected with the Moxa server, and the received data is calculated to obtain the real-time pitching attitude, the rotation angle and the offset of the heading machine 12 and is displayed on a monitoring interface of the vertical guiding system.
The X axis of the laser detection target 3 coincides with the north-pointing direction on the gyroscope 6, and a coordinate system of the vertical guidance system is established with the X axis of the laser detection target 3 rotated 90 ° counterclockwise as the Y axis, as shown in fig. 3. The X axis of the anti-seismic inclinometer 5 is aligned with the north-pointing direction of the gyroscope 6, and the X axis of the anti-seismic inclinometer 5 is rotated 90 ° counterclockwise to define a Y axis, i.e., aligned with the coordinate system of the vertical guide system defined above, and pitch angles in the X axis and Y axis directions can be measured.
A vertical guiding method for attitude measurement of a vertical heading machine, as shown in fig. 4, comprises the following steps:
(1) When the vertical shaft heading machine 12 goes down the well for the first time, the north direction of the gyroscope 6 is defined as the initial position of the vertical shaft heading machine 12;
(2) Acquiring pitching angles of an X axis and a Y axis of the anti-seismic inclinometer 5 installed on the system working platform 13, and adjusting the vertical heading machine 12 to be in a horizontal state according to the pitching angles of the X axis and the Y axis;
(3) The position of the plumb bob 2 on the adjustable bracket 9 is moved back and forth and left and right under the horizontal state of the vertical heading machine 12, so that the emitted laser beam is just beaten at the right center of the laser detection target 3;
(4) At the initial time, the central coordinate of the light spot on the laser detection target 3 is obtained as followsThe X-axis pitch angle and the Y-axis pitch angle of the shock-resistant inclinometer 5 are +.>And->The self-rotation angle of the vertical heading machine 12 measured by the gyroscope 6 is +.>Roll angle->And Pitch angle->The distance of the reflector 1 measured by the laser distance meter 4 is +.>Wherein->，/>；
The coordinates of the light spot of the heading machine 12 in the horizontal state can be obtained according to the X-axis pitch angle and the Y-axis pitch angle at the initial moment:；
the gyroscope 6 can detect the rotation angle of the heading machine 12, and according to the data in the initial state of the gyroscope 6, the rotation angle error at the initial moment is solved as follows:the method comprises the steps of carrying out a first treatment on the surface of the Further, the offset error of the heading machine 12 at the initial time is obtained as follows: />，/>；
(5) The continuous working time of the guiding system is obtained, and the central coordinate of a light spot of the plumb bob 2, which is beaten on the laser detection target 3, isThe pitch angles of the X-axis and the Y-axis of the seismic tiltmeter 5 at this time are obtained as +.>，/>The self-rotation angle of the vertical heading machine 12 measured at this time of the acquisition gyroscope 6 is +.>The distance from the reflector 1 measured at this point in time by the acquisition laser rangefinder 4 is +.>The method comprises the steps of carrying out a first treatment on the surface of the In FIG. 5 +.>For the horizontal projection coordinate of the central coordinate of the light spot on the laser detection target at the initial moment, +.>For measuring the horizontal projection coordinates of the central coordinates of the light spot on the laser target at the moment +.>The horizontal projection coordinate of the center coordinate of the light spot on the laser detection target of the heading machine under the condition of no offset is as follows:
(1) the current rotation angle acquired by the gyroscope 6Roll angle->And Pitch angle->Compensating for self-rotation angle errorsThe difference can be measured to determine the actual self-rotation angle of heading machine 12 as +.>；
(2) At this point in time,or->Judging that the gyroscope 6 or the anti-seismic inclinometer 5 fails, and returning data to the PC end to prompt manual equipment verification;
(3) the projection of the central coordinates of the light spots in the horizontal state of the heading machine 12 can be calculated according to the X-axis pitch angle and the Y-axis pitch angle of the anti-seismic inclinometer 5Wherein->，/>；
(4) The non-offset coordinate of the light spot center in the horizontal state isCan be defined by->Is the center of a circle>Circle of radius and +.>Straight line intersection: :
solving for two points intersecting the circleAnd->；
(5) Because the pitching attitude, the self-rotation angle and the offset of the heading machine 12 are measured in real time in the heading process, the variation is very small, and the heading machine hasThen->Discarding;
(6) then byAnd->The offset of the current measurement time heading machine and the initial time heading machine can be obtained as follows: />，/>The actual offset of the heading machine at the moment is obtained by compensating the offset error: />,/>；
(7) The distance of the reflector 1 measured by the laser range finder 4 at the moment is obtained to beThe tunneling well depth of the vertical heading machine 12 up to this time is: />。

Claims (5)

1. A vertical guiding method for attitude measurement of a vertical heading machine, the method being used in a vertical guiding system, characterized in that: the vertical guiding system comprises a vertical shaft heading machine arranged in a vertical shaft hole, a plumb aligner arranged at the opening of the vertical shaft hole, a guiding system working platform fixed in the vertical shaft heading machine, a laser detection target, a laser range finder, a gyroscope, an anti-seismic inclinometer, a data transmission unit and a data processing unit, wherein the laser detection target, the laser range finder, the gyroscope and the anti-seismic inclinometer are respectively connected with the data transmission unit, and the data transmission unit is connected with the data processing unit;
the vertical shaft heading machine is provided with a measuring channel for the emitted light of the plumb aligner and the laser range finder to pass through, the emitting direction of the plumb aligner vertically faces downwards to the laser detection target, and the laser range finder measures the vertical distance between the working platform of the guiding system and the plumb aligner; the X axis of the laser detection target and the X axis of the anti-vibration detector are consistent with the north direction on the gyroscope, the X axis of the laser detection target is anticlockwise rotated by 90 degrees to be defined as a Y axis, and a coordinate system of a vertical guiding system is established;
the vertical guiding method comprises the following steps:
(1) When the vertical shaft heading machine goes down a well for the first time, defining the north direction of the gyroscope as the initial position of the vertical shaft heading machine;
(2) As the anti-seismic inclinometer is consistent with the coordinate system of the vertical guide system, the pitching angles of the X axis and the Y axis can be measured, and the vertical heading machine is adjusted to be in a horizontal state according to the pitching angles of the X axis and the Y axis;
(3) When the vertical heading machine is in a horizontal state, the plumb aligner is adjusted to enable the laser beam emitted by the plumb aligner to be just shot at the right center of the laser detection target;
(4) At the initial moment, acquiring the central coordinate of a light spot on a laser detection target asThe X-axis pitch angle and the Y-axis pitch angle of the anti-seismic inclinometer are respectively +.>And->The self-rotation angle of the vertical heading machine measured by a gyroscope is +.>Roll angle->And Pitch angle->The distance between the reflecting plates measured by the laser range finder is +.>Wherein->，/>；
According to the X-axis pitch angle and the Y-axis pitch angle at the initial moment, the coordinates of the light spot of the heading machine in the horizontal state can be obtained:，/>i.e. the coordinates in the horizontal state are obtained +.>；
According to the data in the initial state of the gyroscope, solving the rotation angle error at the initial moment as follows:
the method comprises the steps of carrying out a first treatment on the surface of the And further obtaining the offset error of the heading machine at the initial moment:
，/>；
(5) The continuous working time of the guiding system is obtained, and the central coordinate of a light spot of the plumb gauge on the laser detection target isAcquiring the X-axis and Y-axis pitch angles of the earthquake-resistant inclinometer at the same time as +.>，/>The self-rotation angle of the vertical heading machine measured at the moment of the gyroscope is acquired to be +.>The distance from the reflecting plate measured by the laser range finder at the moment is obtained to be +.>； For the horizontal projection coordinate of the central coordinate of the light spot on the laser detection target at the initial moment, +.>For measuring the horizontal projection coordinates of the central coordinates of the light spot on the laser target at the moment +.>The horizontal projection coordinate of the center coordinate of the light spot on the laser detection target of the heading machine under the condition of no offset is as follows:
(1) current rotation angle obtained by gyroscopeRoll angle->And Pitch angle->The error value of the rotation angle is compensated, and the actual rotation angle of the heading machine can be measured to be +.>；
(2) At this point in time,or->Judging that the gyroscope or the anti-seismic inclinometer fails and checking equipment;
(3) the projection of the central coordinates of the light spots in the horizontal state of the heading machine can be calculated according to the X-axis pitch angle and the Y-axis pitch angle of the anti-seismic inclinometerWherein->，/>；
(4) The non-offset coordinate of the light spot center in the horizontal state isCan be defined by->Is the center of a circle>Circle of radius and +.>Straight line intersection:
；
solving for two points intersecting the circleAnd->；
(5) Because the pitching attitude, the self-rotation angle and the offset of the heading machine are measured in real time in the heading process of the heading machine, the variation is very small, and the heading machine has the following characteristics，/>Discarding;
(6) then byAnd->The heading machine and the initial heading machine at the current measurement moment can be obtainedThe offset of the tunneling machine at the moment is as follows: />，/>The actual offset of the heading machine at the moment is obtained by compensating the offset error:,/>；
(7) the distance between the reflecting plates measured by the laser range finder at the moment is obtained to beThe tunneling well depth of the vertical tunneling machine at the moment is as follows: />。
2. The method according to claim 1, characterized in that: the plumb aligner is arranged on the adjustable bracket to realize the movement in two directions which are perpendicular to each other on the horizontal plane.
3. The method according to claim 2, characterized in that: the adjustable support comprises a back plate fixed on a hole wall, a sliding plate, two support arms, and a fixing plate, wherein the sliding plate is attached to the back plate and horizontally connected with the back plate in a sliding mode, one end of the two support arms is fixed on the sliding plate and horizontally extends out, the fixing plate is connected with the other ends of the two support arms, sliding grooves are formed in the support arms, and fixing bolts of the plumb standard instrument slide in the sliding grooves.
4. The method according to claim 2, characterized in that: the adjustable bracket is also provided with a reflecting plate facing the laser range finder.
5. The method according to claim 1, characterized in that: the guide system working platform is horizontally arranged and has a smooth surface.
CN202210489599.4A 2022-05-07 2022-05-07 Vertical guiding system and guiding method for attitude measurement of vertical heading machine Active CN114689012B (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08338721A (en) * 1995-06-09 1996-12-24 Kido Kensetsu Kogyo Kk Posture measuring instrument of shield machine for pipe with small diameter
CN111272156A (en) * 2020-05-07 2020-06-12 中国铁建重工集团股份有限公司 Automatic measurement equipment, method and system for determining attitude of vertical shaft heading machine
CN114320305A (en) * 2022-01-05 2022-04-12 浙江宁海抽水蓄能有限公司 Optical vision shaft excavation guiding system and guiding method

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6826477B2 (en) * 2001-04-23 2004-11-30 Ecole Polytechnique Federale De Lausanne (Epfl) Pedestrian navigation method and apparatus operative in a dead reckoning mode

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08338721A (en) * 1995-06-09 1996-12-24 Kido Kensetsu Kogyo Kk Posture measuring instrument of shield machine for pipe with small diameter
CN111272156A (en) * 2020-05-07 2020-06-12 中国铁建重工集团股份有限公司 Automatic measurement equipment, method and system for determining attitude of vertical shaft heading machine
CN114320305A (en) * 2022-01-05 2022-04-12 浙江宁海抽水蓄能有限公司 Optical vision shaft excavation guiding system and guiding method

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