發(fā)布時間：2018-11-02 17:48

【摘要】：針對煤礦救災(zāi)機(jī)器人導(dǎo)航系統(tǒng)的導(dǎo)航精度低的問題,結(jié)合煤礦井下非結(jié)構(gòu)化環(huán)境的特點,提出一種適于煤礦井下災(zāi)后環(huán)境的超聲波導(dǎo)航和慣性傳感器的導(dǎo)航方法,并利用粒子濾波技術(shù)進(jìn)行算法設(shè)計。結(jié)果表明,基于超聲波和慣性傳感器融合的導(dǎo)航性能滿足煤礦救災(zāi)機(jī)器人的導(dǎo)航需求,算法的收斂速度很快,提高了煤礦救災(zāi)機(jī)器人的導(dǎo)航性能和應(yīng)急搶險能力。
[Abstract]:Aiming at the problem of low navigation accuracy of the navigation system of coal mine disaster relief robot and combining with the characteristics of unstructured environment in underground coal mine, a navigation method of ultrasonic navigation and inertial sensor is proposed, which is suitable for the post-disaster environment of coal mine. The particle filter technique is used to design the algorithm. The results show that the navigation performance based on the fusion of ultrasonic wave and inertial sensor can meet the navigation requirements of the coal mine disaster relief robot, and the convergence speed of the algorithm is fast, and the navigation performance and emergency rescue ability of the coal mine disaster relief robot are improved.
【作者單位】： 煤炭科學(xué)技術(shù)研究院有限公司;煤礦應(yīng)急避險技術(shù)裝備工程研究中心;北京市煤礦安全工程技術(shù)研究中心;
【分類號】：TD774

【相似文獻(xiàn)】

相關(guān)博士學(xué)位論文 前1條

1 吳英飛;書法重現(xiàn)及其在數(shù)字化圖書館中的應(yīng)用[D];浙江大學(xué);2008年

，

本文編號：2306508