Research On Autonomous Positioning Method Of Coal Mine Mobile Robot

Due to the huge and complex production system of coal mine and the harsh working environment,the introduction of robot technology in the production process of coal mine will play an important role in the future mining with few people or without people.Robot positioning technology is the focus of robot technology research.At present,the commonly used robot positioning technology in the underground coal mine is affected by such conditions as bad environment,turning in the roadway,poor visibility,and serious signal absorption by the coal wall,etc.,this paper proposes a positioning method of coal mine mobile robot based on the combined positioning technology of strap-down inertial navigation and odometer.Aiming at the problems of difficult positioning and low precision of coal mine mobile robot,this paper studies the basic positioning theory of strap-down inertial navigation system.At the same time,by modeling the error of inertial element of strap-down inertial navigation,it completes the calibration experiment of inertial element,and obtains the calibration result of inertial element used in this paper,which lays a foundation for further research and application.Aiming at the problem of,unknown initial orientation of strap-dowin inertial navigation system,it proposes an initial alignment method of strap-down inertial navigation system based on Kalman filtering.Experiments show that the method effectively improves the alignment accuracy and speed,providing a guarantee for position and attitude solution of strap-down inertial navigation system.Aiming at the problem of low precision of position and attitude solution of strap-down inertial navigation system,it analyzes the factors affecting the accuracy of position and pose solution,it uses the equivalent rotation vector algorithm to effectively compensate the coning error and the rowing error.At the same time,it establishes the position and attitude solution model,and corrects the system error by Kalman filtering.Through the actualAiming at the problem that vibration has greatly affected the positioning accuracy of strap-down inertial navigation system,it designs a strap-down inertial navigation vibration reduction system.It analyzes the transient dynamics of the strap-down inertial navigation vibration reduction system by ANSYS software simulation,and compares and analyzes the vibration performance of the vibration reduction system,and verifies the feasibility of the vibration reduction system.Aiming at the low positioning accuracy of coal mine mobile robot based on strap-down inertial navigation,it proposes a combined positioning method of coal mine mobile robot based on strap-down inertial navigation and odometer.According to the application characteristics of each sensor,it establishes the error model of strap-down inertial navigation and odometer,makes the preprocessing of the information of the sensor,and completes the estimation of position and attitude of the robot by Kalman filtering algorithm.Finally,the positioning method proposed in this paper is conducted the actual measurement analysis on the experimental platform of coal mine mobile robot,and the results fully verify that the positioning method proposed in this paper can provide better position and attitude estimation for the robot.