CN114689045A - Positioning and navigation system and positioning and navigation method for heading machine - Google Patents
Positioning and navigation system and positioning and navigation method for heading machine Download PDFInfo
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- CN114689045A CN114689045A CN202210500963.2A CN202210500963A CN114689045A CN 114689045 A CN114689045 A CN 114689045A CN 202210500963 A CN202210500963 A CN 202210500963A CN 114689045 A CN114689045 A CN 114689045A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- 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
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- 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
Abstract
The embodiment of the invention discloses a positioning and navigation system of a heading machine, which comprises a total station and an inertial navigation system, wherein the total station is used for measuring a high-precision position angle, and the inertial navigation system is used for measuring a high-precision attitude course; the positioning navigation system further comprises a reflecting prism, the inertial navigation system is arranged on the heading machine, the total station is arranged in a coal mine tunnel 5-20 m away from the heading machine, the reflecting prism is arranged at the rear part of the heading machine, and the total station can measure the reflecting prism in real time. The positioning navigation system of the development machine provided by the embodiment of the invention adopts a total station and an optical fiber strapdown inertial navigation system to carry out integrated navigation to position the development machine; the working process of the navigation system is set by fully combining the working principle characteristics of the total station and the inertial navigation system and combining the tunneling process of the tunneling machine, so that the accurate positioning of the tunneling machine is fully ensured.
Description
Technical Field
The invention relates to the technical field of positioning and navigation of a heading machine, in particular to a positioning and navigation system and a positioning and navigation method of the heading machine.
Background
The cantilever type heading machine is most frequently used in underground coal mines at present, along with the intelligent construction of the coal mines, the heading machine is difficult to accurately position in the underground severe environment of the coal mines, the problems of poor environmental adaptability, large precision error and the like exist in some positioning modes adopted in the underground coal mines at present, such as a total station, inertial navigation, laser, a mileometer and UWB, and the accurate positioning can not be completed in some combined positioning modes, such as the total station, the inertial navigation, the UWB and the like.
In recent years, some colleges and universities and other scientific research institutions have made certain research on the intelligent positioning and navigation problem of roadway excavation.
The patent publication No. CN105178967A entitled "autonomous positioning and orientation system and method for development machine" utilizes a programmable controller, a positioning base station, a gyroscope, an inclination angle sensor and a machine body positioning box. The positions of the positioning base station group relative to a roadway coordinate system are known, and when the heading machine advances, the heading machine position and attitude parameters are solved by using an ultra-wideband radio pulse ranging method. And when the heading machine stops, correcting the position and posture parameters of the heading machine through the gyroscope and the tilt angle sensor. Thereby realizing the positioning and orientation of the heading machine.
The patent publication No. CN111273270A discloses a positioning and orienting method of a heading machine, which is characterized in that a distance measuring plate is arranged in a roadway behind the heading machine, a three-dimensional radar and an inclination angle measuring instrument are arranged on the heading machine, the three-dimensional radar faces the distance measuring plate, point cloud data of a roadway environment are obtained in real time by the three-dimensional radar, the inclination angle of the machine body of the heading machine is measured in real time by the inclination angle measuring instrument, and data fusion and extraction are carried out on the point cloud data and the inclination angle of the machine body to obtain the relative positioning of the heading machine.
The patent with the publication number of CN101975063A is named as laser guide positioning and orienting device and method of a heading machine. According to the patent, a tunnel laser direction indicator is utilized, a laser receiver is mounted on a cantilever of the heading machine, the position of the cantilever is judged according to the position of a light spot emitted by the laser direction indicator on the laser receiver, and the pose information of the heading machine is deduced through a cantilever oil cylinder and a cantilever tilt sensor.
The patent with the publication number of CN102589514A is named as a heading machine pose parameter measuring device and a heading machine pose parameter measuring method. The position and posture of the heading machine are calculated by the aid of the laser direction indicator and two swayable rectangular optical sensors arranged on the body of the heading machine.
The light transmission is influenced by the uneven bottom plate and the dust environment, the vibration of the machine body is strong along with the increase of the operation time in the tunneling work, so that the drift of an inertial unit and the increase of errors are caused, the track slips and the error of a odometer are caused, the UWB can ensure that multiple stations are established for moving the positioning precision on the tunneling work surface, so that the methods have many inconveniences, the methods have limitations, the manual establishment of the reference needs to be continuously moved and calibrated, the manual operation is still needed, and the accurate positioning of the tunneling cannot be realized by the whole system.
Disclosure of Invention
In order to solve the technical problem, the embodiment of the invention provides a positioning and navigation system and a positioning and navigation method for a heading machine.
A first aspect of an embodiment of the present invention provides a heading machine positioning and navigation system, including:
the system comprises a total station (1) and an inertial navigation system (2), wherein the total station (1) carries out high-precision position angle measurement, and the inertial navigation system (2) carries out high-precision attitude course measurement;
the positioning navigation system further comprises a reflecting prism (3), the inertial navigation system (2) is arranged on the heading machine (4), the total station (1) is arranged in a coal mine roadway 5-20 m away from the heading machine, the reflecting prism (3) is arranged at the rear part of the heading machine (4), and the total station (1) can measure the reflecting prism (3) in real time.
Preferably, the first and second electrodes are formed of a metal,
the positioning navigation system further comprises a comprehensive information processing device and a display control device (5), and the total station (1) and the inertial navigation system (2) perform information processing and information display through the comprehensive information processing device and the display control device (5).
Preferably, the first and second liquid crystal display panels are,
the inertial navigation system (2) comprises a triaxial optical fiber gyroscope assembly (21), a quartz accelerometer (22), a direct current power supply (23), an I/F conversion circuit (24) and a navigation computer (25).
Preferably, the first and second liquid crystal display panels are,
the inertial navigation system (2) completes the posture and position calculation of the heading machine (4), and the total station (1) is used for completing absolute position measurement and tracking the reflecting prism (3) on the heading machine (4) in real time.
The second aspect of the embodiment of the invention provides a positioning and navigation method of a heading machine, which uses the heading machine positioning and navigation system to perform positioning and navigation.
The positioning navigation method comprises the following steps:
s1: the total station is arranged at a distance of 10-15m from the tunneling machine, the total station is set autonomously by using a known position point, and after the autonomous setting is finished, the total station is used for measuring the accurate initial position of the inertial navigation system;
s2: when the tunneling machine is static, the engine of the tunneling machine is not started, the inertial navigation system is powered on, position information is input, alignment is carried out for 20min, navigation is automatically carried out after alignment is finished, and the inertial navigation system carries out automatic zero-speed judgment and correction; meanwhile, the total station tracks and positions a reflecting prism on the heading machine in real time;
s3: in the working process of the heading machine, the inertial navigation system measures the course, the posture and the speed of the heading machine in real time, the total station measures the position of the heading machine, and the inertial navigation system sends the measured information and the information measured by the total station to the comprehensive information processing device and the display control equipment for data fusion and display on the display control device;
s4: the heading machine supports a roadway after cutting a section, the inertial navigation system performs automatic zero-speed correction at the moment, and the inertial navigation system performs position correction by using a total station;
s5: after the heading work of the heading machine is completed by one team or the heading machine is cut to 5-6m, the inertial navigation system and the total station are powered off; and then manually moving the total station forward to a position 10m away from the heading machine, and repeating the steps S1-S4.
Preferably, the first and second electrodes are formed of a metal,
in step S1, the autonomous station setting method of the total station includes: the total station adopts a rearview intersection method to carry out autonomous station setting by utilizing known positions P1, P2 and P3, and positioning of the position of the total station is completed;
in step S3, the total station measures the position of the heading machine, and the measuring method includes:
(1) correcting course of a total station: the course correction is carried out by adopting the positioning result of the total station and the known position point, on the premise of ensuring the measurement accuracy, the course correction is carried out by selecting points with the distance of 50m or more from the sight distance,
(2) positioning the position of the heading machine by the total station: the total station tracks and measures a reflecting prism on the heading machine in real time, and calculates the coordinates of the heading machine in real time so as to measure the position of the heading machine.
Preferably, the first and second electrodes are formed of a metal,
in step S2, the method for tracking and positioning the reflective prism on the heading machine in real time by the total station includes the following steps:
step one, a reflecting prism searching process: firstly, searching a reflecting prism, if the reflecting prism is not found in a telescope market of the total station, continuously searching the reflecting prism in a spiral or rectangular manner by the telescope of the total station under the driving of a motor of the total station, and immediately stopping searching by the telescope once the reflecting prism is detected, and immediately entering the step two;
step two, locking and tracking the reflecting prism: the locking and tracking of the reflecting prism is an automatic feedback process; when the reflecting prism moves, a control system of the total station tries to minimize the deviation of the measured value, the rotating current of a motor of the total station is determined through a control circuit, and a shaft system is driven to enable the telescope to lock and track the reflecting prism.
The third aspect of the embodiments of the present invention provides a positioning and navigation system for a heading machine, which is characterized in that: the system comprises a total station and a pose sensor system, wherein the pose sensor system is any one of an inertial navigation system, a laser radar system, a mileometer system or a UWB positioning sensor.
In the technical scheme provided by the embodiment of the invention, the position of the heading machine is positioned by adopting a total station and an optical fiber strapdown inertial navigation system to carry out an integrated navigation mode; the working flow of the navigation system is set by fully combining the characteristics of the total station and the working principle of inertial navigation and combining the tunneling process of the excavator: the system comprises a system preparation stage, a total station, an inertial navigation system, a reflecting prism, a supporting stage and a supporting stage, wherein the total station is used for automatically setting a station, the inertial navigation system is used for measuring course attitude and speed in real time, the total station is used for measuring power-on alignment during work, correction is completed, the total station tracks the reflecting prism on the heading machine, and meanwhile, the total station is used for correcting the position to ensure accurate positioning of the heading machine.
Drawings
Fig. 1 is a schematic layout view of a positioning and navigation system of a heading machine in an embodiment of the invention;
FIG. 2 is a schematic diagram of an inertial navigation working principle of a positioning and navigation system of a heading machine in an embodiment of the invention;
FIG. 3 is a rear view positioning resolving schematic diagram of a total station instrument according to a positioning navigation method of a heading machine in the embodiment of the invention;
1-a total station; 2-an inertial navigation system; 3-a reflecting prism; 4-a heading machine; 5-comprehensive information processing device and display control equipment; 21-triaxial fiber optic gyroscope assembly; 22-a quartz accelerometer; 23-a direct current power supply; 24-I/F conversion circuit; 25-navigation computer.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Example 1
Referring to fig. 1-2, an embodiment of a positioning system of a heading machine according to the present invention is:
the invention provides a positioning and navigation system of a heading machine, which combines a high-precision attitude and course measuring function of an inertial navigation system 2 and a high-precision position and angle measuring function of a total station 1.
The heading machine 4 does long-time and short-distance discontinuous motion during working, the inertial navigation system 2 utilizes a gyroscope and an accelerometer of the inertial navigation system to perform autonomous alignment and navigation, and can autonomously judge the dynamic state of the heading machine by combining start-stop signals of the heading machine 4 to perform automatic zero-speed correction; the discontinuous operation of the heading machine provides conditions for the inertial navigation system to adopt automatic zero-speed correction, and the heading machine corrects the speed and position errors by using intermittent stopping time and corrects the constant error of an inertial device. And judging whether the inertial navigation system is in zero speed by adopting a start-stop signal of the development machine and the output of an accelerometer.
The precision of total station laser positioning is at centimeter level, nevertheless because the scene restriction leads to can't whole journey work at the tunnelling in-process, can realize the location at the clearance of strutting or tunnelling, further optimizes inertial navigation system's navigation result, reaches centimeter level location result. The arrangement of the positioning and navigation system of the development machine is shown in figure 1
The total station adopts a roadway hoisting installation mode, and the total station adopts a back-view intersection measurement method (the test principle is shown in figure 3), and measures the self position and the heading calibration of the total station according to known position points (at least 3, three points P1, P2 and P3 in figure 1); and calculating the reflecting prism 3 at a fixed position on the body of the tunneling locomotive by using the accurate position and course of the total station in real time, wherein the output signal of the total station comprises a course angle, a pitch angle and a distance measurement, and the comprehensive information processing device calculates and obtains a measurement coordinate Pg (Xg, Yg, Zg) of the position of the reflecting prism 3 through a geometric relationship. The reflecting prism is arranged at the high position at the rear part of the tunneling machine and fixedly connected with the tunneling machine body, so that the shielding in the movement process is avoided, the reflecting prism can be arranged at the upper part of an electrical equipment box of the tunneling machine, and the three-way lever arm parameter of the prism central point to the inertial navigation central point needs to be accurately measured.
The inertial navigation system consists of a three-axis optical fiber gyroscope assembly 21, a quartz accelerometer 22, a direct current power supply 23, an I/F conversion circuit 24 and a navigation computer 25. The direct current power supply converts the power supply into a secondary power supply of the inertial navigation system to supply power to the sub-components. When the inertial navigation system works, the triaxial fiber gyroscope senses the angular motion of the carrier and outputs a digital signal proportional to the angular velocity of the carrier motion; the three orthogonally-arranged accelerometers sense the linear acceleration of the carrier, output current signals proportional to the linear acceleration, and convert the current signals into frequency signals through an I/F conversion circuit to be input into a navigation computer. The navigation computer completes gyroscope, accelerometer, automatic zero-speed judgment and matching, system error compensation calculation and navigation calculation, and sends navigation information such as real-time speed, position, attitude and the like to the outside in a specified period. The working principle diagram of inertial navigation is shown in figure 2.
Example 2
In the above description of the positioning and navigation system of the heading machine in the embodiment of the present invention, a positioning and navigation method of the heading machine in the embodiment of the present invention is described below, referring to fig. 3, an embodiment of the positioning and navigation method of the heading machine in the embodiment of the present invention is: positioning and navigating the development machine by adopting the development machine positioning and navigating system;
the total station is used for tracking and measuring a reflecting prism target on the heading machine in real time and mainly comprises two steps of reflecting prism searching and reflecting prism locking and tracking.
The searching process of the reflecting prism comprises the following steps: the method comprises the following steps of firstly, searching a reflecting prism, finding no reflecting prism in a telescope field of a total station, and continuously searching the reflecting prism in a spiral or rectangular mode by the telescope under the driving of a motor of the total station. Once the prism is detected, the telescope immediately stops searching and immediately enters the reflecting prism tracking process.
Locking and tracking the reflecting prism: prism tracking is basically an automatic feedback process. When the reflecting prism moves, the total station control system tries to minimize the deviation of the measured value, the current of the motor rotation is determined through the control circuit, and the shaft system is driven to enable the telescope to lock and track the reflecting prism. The prism tracking is continuously performed in the whole measuring process, and the prism tracking device has the functions of eliminating overlapping jitter and keeping prediction.
The total station positioning resolving positioning coordinate system: x-north-south, north being positive; y direction-east is positive in the east-west direction; z direction-high-low direction, and downward is positive; and the zero point (0,0,0) of the coordinate is the starting point of the coal mine roadway.
And (3) positioning and navigating the total station:
(1) the total station automatically establishes the station: the total station is automatically set by using known position points (P1, P2 and P3) in the underground, a rearview intersection method is adopted, the principle is shown in figure 3, the positioning of the position of the total station is completed, and the initial position needs to be accurately given by an underground surveying and mapping team. At least 3 known position points are used for measurement, and the angle is 30-120 degrees.
(2) Correcting the course of the total station: and (3) carrying out course correction (correcting installation error of the course of the total station and the underground course) by adopting the self-positioning result of the total station and a known position point, and selecting a point with the distance of more than 50m for course correction on the premise of ensuring the measurement accuracy.
(3) Positioning the position of the heading machine by the total station: and the total station tracks and measures a reflecting prism of the heading machine in real time and calculates the coordinates of the heading machine in real time.
Heading machine positioning navigation work flow
(1) And (3) the total station is set at a distance of 10-15m from the tunneling machine, the known point is used for autonomous setting of the total station, and after the autonomous setting is finished, the total station is used for measuring the accurate initial position of the inertial navigation system.
(2) The heading machine is static, the engine of the heading machine is not started, the inertial navigation system is powered on, position information is input, alignment is carried out for 20min, automatic navigation is carried out after alignment is finished, automatic zero-speed judgment and correction are carried out, and a total station tracks and positions a reflecting prism on the heading machine in real time;
(3) in the working process of the heading machine, the inertial navigation system measures the heading, the attitude and the speed of the heading machine in real time, the total station measures the position of the heading machine, and the two devices transmit information to the comprehensive information processing device and the display and control device for data fusion and display on the display and control device.
(4) And the heading machine supports the roadway after cutting one section, and the inertial navigation system performs automatic zero-speed correction and performs position correction by using the position of the total station.
(5) After the tunneling work is finished for one team or the cutting reaches 5-6m, the inertial navigation system is powered off, and the total station is powered off. And moving the total station forward to a position 10m away from the tunneling machine to complete station setting work.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. The utility model provides a heading machine location navigation, includes total powerstation (1) and inertial navigation system (2), its characterized in that: the total station (1) carries out high-precision position angle measurement, and the inertial navigation system (2) carries out high-precision attitude heading measurement;
the positioning navigation system further comprises a reflecting prism (3), the inertial navigation system (2) is arranged on the heading machine (4), the total station (1) is arranged in a coal mine roadway 5-20 m away from the heading machine, the reflecting prism (3) is arranged at the rear part of the heading machine (4), and the total station (1) can measure the reflecting prism (3) in real time.
2. The heading machine positioning and navigation system according to claim 1, wherein: the positioning navigation system further comprises a comprehensive information processing device and a display control device (5), and the total station (1) and the inertial navigation system (2) perform information processing and information display through the comprehensive information processing device and the display control device (5).
3. The heading machine positioning and navigation system according to claim 1, wherein: the inertial navigation system (2) comprises a triaxial optical fiber gyroscope assembly (21), a quartz accelerometer (22), a direct current power supply (23), an I/F conversion circuit (24) and a navigation computer (25).
4. The heading machine positioning and navigation system according to claim 1, wherein: the inertial navigation system (2) completes the posture and position calculation of the heading machine (4), and the total station (1) is used for completing absolute position measurement and tracking the reflecting prism (3) on the heading machine (4) in real time.
5. A positioning and navigation method of a heading machine is characterized by comprising the following steps: the positioning navigation system of the heading machine is used for positioning navigation, and the heading machine positioning navigation system is used for positioning navigation.
6. The positioning and navigation method of the heading machine according to claim 5, wherein: the positioning navigation method comprises the following steps:
s1: the total station is arranged at a distance of 10-15m from the tunneling machine, the total station is set autonomously by using a known position point, and after the autonomous setting is finished, the total station is used for measuring the accurate initial position of the inertial navigation system;
s2: when the development machine is static, the development machine engine is not started, the inertial navigation system is powered on, position information is input, alignment is carried out for 20min, automatic navigation is carried out after alignment is finished, and the inertial navigation system carries out automatic zero-speed judgment and correction; meanwhile, the total station tracks and positions a reflecting prism on the heading machine in real time;
s3: in the working process of the heading machine, the inertial navigation system measures the course, the posture and the speed of the heading machine in real time, the total station measures the position of the heading machine, and the inertial navigation system sends the measured information and the information measured by the total station to the comprehensive information processing device and the display control equipment for data fusion and display on the display control device;
s4: the heading machine supports a roadway after cutting a section, the inertial navigation system performs automatic zero-speed correction at the moment, and the inertial navigation system performs position correction by using a total station;
s5: after the heading machine finishes one team or cuts to 5-6m, the inertial navigation system and the total station are powered off; and then manually moving the total station forward to a position 10m away from the heading machine, and repeating the steps S1-S4.
7. The positioning and navigation method of the heading machine according to claim 6, wherein: in step S1, the autonomous station setting method of the total station includes: the total station adopts a rearview intersection method to carry out autonomous station setting by utilizing known positions P1, P2 and P3, and positioning of the position of the total station is completed;
in step S3, the total station measures the position of the heading machine, and the measuring method includes:
(1) correcting course of a total station: the course correction is carried out by adopting the positioning result of the total station and the known position point, on the premise of ensuring the measurement accuracy, the course correction is carried out by selecting points with the distance of 50m or more from the sight distance,
(2) positioning the position of the heading machine by the total station: the total station tracks and measures a reflecting prism on the heading machine in real time, and calculates the coordinates of the heading machine in real time so as to measure the position of the heading machine.
8. The positioning and navigation method of the heading machine according to claim 6, wherein: in step S2, the method for tracking and positioning the reflective prism on the heading machine in real time by the total station includes the following steps:
step one, a reflecting prism searching process: firstly, searching a reflecting prism, if the reflecting prism is not found in a telescope market of the total station, continuously searching the reflecting prism by the telescope of the total station in a spiral or rectangular manner under the driving of a motor of the total station, and immediately stopping searching by the telescope once the reflecting prism is detected, and immediately entering a step two;
step two, locking and tracking the reflecting prism: the locking and tracking of the reflecting prism is an automatic feedback process; when the reflecting prism moves, a control system of the total station tries to minimize the deviation of the measured value, the rotating current of a motor of the total station is determined through a control circuit, and a shaft system is driven to enable the telescope to lock and track the reflecting prism.
9. The utility model provides a heading machine location navigation which characterized in that: the system comprises a total station and a pose sensor system, wherein the pose sensor system is any one of an inertial navigation system, a laser radar system, a speedometer system or a UWB positioning sensor.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115014304A (en) * | 2022-07-25 | 2022-09-06 | 西安科技大学 | Station building and moving method of underground coal mine total station positioning system |
| CN116295313A (en) * | 2023-05-22 | 2023-06-23 | 太原理工大学 | Real-time positioning system of heading machine |
-
2022
- 2022-05-09 CN CN202210500963.2A patent/CN114689045A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115014304A (en) * | 2022-07-25 | 2022-09-06 | 西安科技大学 | Station building and moving method of underground coal mine total station positioning system |
| CN115014304B (en) * | 2022-07-25 | 2023-08-22 | 西安科技大学 | Station building and station moving method of coal mine underground total station positioning system |
| CN116295313A (en) * | 2023-05-22 | 2023-06-23 | 太原理工大学 | Real-time positioning system of heading machine |
| CN116295313B (en) * | 2023-05-22 | 2023-07-18 | 太原理工大学 | Real-time positioning system of heading machine |
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