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井下巷道内智能传感器移动轨迹研究

柏思忠

柏思忠. 井下巷道内智能传感器移动轨迹研究[J]. 工矿自动化, 2022, 48(2): 49-54. doi: 10.13272/j.issn.1671-251x.2021080081
引用本文: 柏思忠. 井下巷道内智能传感器移动轨迹研究[J]. 工矿自动化, 2022, 48(2): 49-54. doi: 10.13272/j.issn.1671-251x.2021080081
BAI Sizhong. Research on moving trajectory of intelligent sensor in underground roadway[J]. Industry and Mine Automation, 2022, 48(2): 49-54. doi: 10.13272/j.issn.1671-251x.2021080081
Citation: BAI Sizhong. Research on moving trajectory of intelligent sensor in underground roadway[J]. Industry and Mine Automation, 2022, 48(2): 49-54. doi: 10.13272/j.issn.1671-251x.2021080081

井下巷道内智能传感器移动轨迹研究

doi: 10.13272/j.issn.1671-251x.2021080081
基金项目: 

国家重点研发计划资助项目(2018YFC0808303);重庆市技术创新与应用发展重点项目(cstc2019jscx-mbdxX0007);中煤科工集团重庆研究院有限公司项目(2020YBXM09)。

详细信息
    作者简介:

    柏思忠(1978-),男,四川阆中人,副研究员,硕士,主要研究方向为超声波流量检测、室内设备定位与导航、仪器仪表数据处理和传输,E-mail:bsz3188@163.com。

  • 中图分类号: TD67

Research on moving trajectory of intelligent sensor in underground roadway

  • 摘要: 针对现有组合惯性导航方式应用于井下巷道内智能传感器时失去完全自主优势和增加成本的问题,首先将井下巷道分解为多个一定垂高的二维平面,在二维平面形成多条既定路径,将智能传感器定位问题转换为既定路径上的移动轨迹跟踪问题;然后选用基于微机电系统的惯性测量单元(MEMS-based IMU)实现井下巷道内智能传感器惯性导航,结合零速修正和既定路径标定的方式反演移动轨迹。智能传感器在既定路径起始点零速修正后,整个既定路径上的移动分为直线惯性导航和交叉点标定2种模式。直线惯性导航:传感器航向角和横滚角变化值不超过阈值时,通过惯性导航组件解算得到传感器速度、位置和姿态角,计算出实时相对坐标和运动路径。交叉点标定:传感器运动到交叉点处时,根据交叉点已知坐标值对当前实时值进行校准,消除惯性导航的累计误差。在地面环形道路的试验结果表明:在未标定情况下,纯惯性导航的航向偏差约为30°,移动距离相对误差为5.5%;进行既定路径交叉点标定后,航向偏差约为2°,移动距离相对误差为0.8%,标定后移动轨迹和实际道路吻合程度更高。

     

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出版历程
  • 收稿日期:  2021-08-30
  • 修回日期:  2022-02-12
  • 网络出版日期:  2022-03-01

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