Roadheader combined positioning method based on strapdown inertial navigation and differential odometer
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摘要: 掘进机自主精确定位是实现掘进工作面智能化乃至无人化的关键，捷联惯导与里程计组合是一种较理想的掘进机定位方案。针对捷联惯导定位误差随时间累计、单里程计位姿感知能力有限等问题，在捷联惯导定位的基础上引入差速里程计作为辅助定位，提出了一种基于捷联惯导与差速里程计的掘进机组合定位方法。该方法的实现由基于捷联惯导的位姿感知、基于差速里程计的航位推算、基于卡尔曼滤波的数据融合3个部分组成：通过捷联惯导获得导航坐标系下掘进机参考位移与姿态角；由2个分别安装于掘进机左右履带的里程计组成差速里程计，通过差速里程计对掘进机进行航位推算；根据捷联惯导与差速里程计的误差方程设计卡尔曼滤波器，并以捷联惯导与差速里程计得到的掘进机位姿数据之差作为卡尔曼滤波器输入，以卡尔曼滤波器输出值对捷联惯导数据进行校正与补偿。将里程计数据有效性判断融入组合定位方法中，避免了履带打滑对定位精度的影响。在模拟巷道进行了掘进机定位实验，结果表明：该组合定位方法测得的掘进机航向角误差能够控制在0.6°以内，位置误差能够控制在0.19 m以内，具有较高的定位精度。Abstract: Autonomous and accurate positioning of roadheader is the key to realize intelligent and unmanned heading face. The combination of strapdown inertial navigation and odometer is an ideal positioning scheme for roadheader. The positioning error of strapdown inertial navigation accumulates with time and the position and posture perception capability of single odometer is limited. In order to solve the above problems, a roadheader combined positioning method based on strapdown inertial navigation and differential odometer is proposed by introducing differential odometer as auxiliary positioning on the basis of strapdown inertial navigation. The realization of the method consists of three parts: position and posture perception based on strapdown inertial navigation, dead reckoning based on differential odometer, and data fusion based on Kalman filtering. The reference displacement and attitude angle of roadheader in navigation coordinate system are obtained by strapdown inertial navigation. The differential odometer is composed of two odometers installed on the left and right tracks of the roadheader, and the dead reckoning of the roadheader is calculated by the differential odometer. Kalman filter is designed according to the error equation of strapdown inertial navigation and differential odometer. The difference between the position and posture data of roadheader obtained by strapdown inertial navigation and differential odometer is used as the input of Kalman filter. The output value of Kalman filter is used to correct and compensate the strapdown inertial navigation data. The validity judgment of odometer data is integrated into the combined positioning method, so that the influence of track slipping on the positioning precision is avoided. The positioning experiment of roadheader is carried out in the simulated roadway. The results show that the heading angle error measured by the combined positioning method can be controlled within 0.6° and the position error can be controlled within 0.19 m. The method has high positioning precision.
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图 1 基于捷联惯导与差速里程计的掘进机组合定位原理
Figure 1. Combined positioning principle of roadheader based on strapdown inertial navigation and differential odometer
表 1 捷联惯导参数
Table 1. Strapdown inertial navigation parameters
参数 CH110捷联惯导 FSON II捷联惯导 零偏稳定性/（°·h−1） $ \leqslant 3.5 $ $ \leqslant 0.005 $ 自寻北误差/（°） $ \leqslant 0.1 $ $ \leqslant 0.01 $ 水平对准精度/（°） $ 0.1 $ $ 0.01 $ 航向精度/（°） $ \leqslant 0.4 $ $ \leqslant 0.02 $ 
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表 2 里程计参数
Table 2. Odometer parameters
参数 左里程计 右里程计 允许最高转速/（r·min−1） 6 000 6 000 分辨率/（P·R−1） 1 000 1 000 刻度系数/（m·P−1） $ 2.904 \times {10^{ - 4}} $ $ 2.904 \times {10^{ - 4}} $ 俯仰误差角/（°） 0.46 0.50 航向误差角/（°） 0.38 0.72
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表 3 掘进机初始位姿数据
Table 3. Initial position and posture data of roadheader
参数 值 航向角/（°） −74.090 9 横滚角/（°） 0.348 1 俯仰角/（°） −0.560 4 经度/（°） 118.602 0 纬度/（°） 37.745 0 高程/m 787.815 0 当地重力加速度/（m·s−2） −9.797
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