Inertial navigation positioning method of shearer based on Kalman filtering algorithm
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摘要: 针对现有采煤机定位方法存在误差较大、精确性不高等问题,提出了基于卡尔曼滤波算法的采煤机惯导定位方法。该方法将采煤机的惯导定位结果与综采工作面控制系统中心计算机设定的采煤机理想轨迹相结合,经过卡尔曼滤波获取采煤机位置的最优估计,得到最终的定位结果。仿真结果表明,该方法可克服惯导定位误差随时间累积的缺点,具有较高的定位精度。Abstract: In view of problems of big error, low accuracy of existed positioning method of shearer, an inertial navigation positioning method of the shearer based on Kalman filtering algorithm was proposed. The method combines inertial navigation positioning results of the shearer with ideal track of the shearer set by central computer of control system of fully mechanized working face, then uses Kalman filtering to obtain the optimal estimation of the shearer position, so as to get final positioning result. The simulation results show that the method can avoid inertial navigation positioning error accumulated over time with high positioning accuracy.
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Key words:
- shearer /
- inertial navigation positioning /
- Kalman filtering /
- positioning error
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