Affection analysis of geometric layout on position and attitude detection accuracy of roadheader
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摘要: 为实现综掘工作面悬臂式掘进机位姿无人化、高精度检测，提出了一种基于超宽带测距技术的掘进机位姿检测系统，推导了基于该系统的掘进机定位坐标及机身姿态角计算方法，通过Matlab仿真分析了基站布局间距、角度对定位精度的影响及机身定位点间距对姿态角检测精度的影响。仿真结果表明：随着基站至掘进机机身定位点的测量距离增大，系统定位精度降低；基站布局间距越大，系统定位精度越高；基站布局角度在yoz平面呈60°时系统定位精度优于基站布局角度呈0°及90°时；基站至掘进机机身定位点的测量距离对姿态角检测精度没有显著影响；机身定位点间距越小，系统姿态角检测精度越高。Abstract: In order to realize unmanned and high accurate detection of position and attitude of boom-type roadheader on fully mechanized excavation face, a position and attitude detection system of roadheader based on ultra wide band ranging technology was proposed, calculation methods of positioning coordinate and attitude angle of roadheader were deduced based on the system, and affection of distance and angle between base stations on positioning accuracy and affection of distance between positioning points of roadheader on attitude angle detection accuracy were analyzed by Matlab simulation. The simulation results show that positioning accuracy of the system decreases with increase of distance between base station and positioning point of roadheader; positioning accuracy of the system increases with increase of distance between base stations; under the case of angle between base stations in yoz plane is 60°, positioning accuracy of the system is higher than the one when the angle is 0° or 90° respectively; distance between base station and positioning point of roadheader has no significant affection on attitude angle detection accuracy; and attitude angle detection accuracy increases with decrease of distance between positioning points of roadheader.
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