本文選題：懸臂式掘進(jìn)機(jī) + 導(dǎo)航定位��； 參考：《工礦自動化》2017年08期

【摘要】：闡述了懸臂式掘進(jìn)機(jī)導(dǎo)航定位問題,并分析了其特殊性,給出了其數(shù)學(xué)描述;詳細(xì)分析了掘進(jìn)機(jī)光電導(dǎo)航和位姿檢測技術(shù)現(xiàn)狀、掘進(jìn)機(jī)慣性導(dǎo)航技術(shù)現(xiàn)狀、基于多信息融合的掘進(jìn)機(jī)導(dǎo)航定位技術(shù)現(xiàn)狀,并進(jìn)行了比較與評價。得出結(jié)論:光電導(dǎo)航裝備技術(shù)成熟、精度高,但在煤礦井下應(yīng)用存在較嚴(yán)重的環(huán)境適應(yīng)性問題;慣性導(dǎo)航技術(shù)環(huán)境適應(yīng)性強(qiáng)、姿態(tài)檢測精度較高,但長時定位精度差;將光電導(dǎo)航技術(shù)和慣性導(dǎo)航技術(shù)相結(jié)合的多信息多傳感器融合的導(dǎo)航技術(shù)可能是解決懸臂式掘進(jìn)機(jī)空間位姿檢測問題的較優(yōu)途徑,實現(xiàn)信息融合的關(guān)鍵在于解決多信息多傳感器帶來的測量基準(zhǔn)統(tǒng)一問題,且需要魯棒性更強(qiáng)的融合算法。
[Abstract]:This paper expounds the navigation and positioning problem of the cantilever tunneling machine, analyzes its particularity and gives its mathematical description, analyzes in detail the present situation of the photoelectric navigation and pose detection technology of the roadheader, and the present situation of the inertial navigation technology of the roadheader. The status quo of roadheader navigation and positioning technology based on multi-information fusion is compared and evaluated. The conclusions are as follows: the photoelectric navigation equipment has mature technology and high precision, but there are serious environmental adaptability problems in underground coal mine application, inertial navigation technology has strong environmental adaptability, high attitude detection accuracy, but poor positioning accuracy for long time. The combination of photoelectric navigation technology and inertial navigation technology with multi-information and multi-sensor fusion may be the best way to solve the problem of spatial pose detection of cantilever roadheader. The key to realize information fusion is to solve the problem of unified measurement datum brought by multi-information and multi-sensor, and more robust fusion algorithm is needed.
【作者單位】： 中國煤炭科工集團(tuán)太原研究院有限公司;山西天地煤機(jī)裝備有限公司;
【基金】：中國煤炭科工集團(tuán)有限公司科技項目(2016MS016)
【分類號】：TD632.2

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 黃東;楊凌輝;羅文;張曉日;史慎東;黃U，

本文編號：1981120