Research On Combined Positioning System Of Strapdown Inertial Navigation Robot And Digital Total Station For Coal Mine Roadway Excavation Robot

The intelligence of fully mechanized coal mining face has achieved initial results,but the current level of intelligence of fully mechanized mining face is seriously lagging behind,and the problem of mining imbalance is prominent.The primary task of the intelligent development of coal mine tunneling is to research and develop coal mine tunneling robots,and the positioning of tunneling robots is particularly important.Aiming at the positioning problem of the coal mine tunneling robot developed by our team,a combination positioning system of strapdown inertial navigation and digital total station is proposed in this paper.Aiming at the complex geological environment of coal mine roadway boring robots,according to the analysis of the roadway driving positioning requirements,the overall plan of the combined positioning system of strapdown inertial navigation and digital total station is proposed,and the positioning system is divided into hardware and software parts for explanation.The basic theory of pose calculation of strapdown inertial navigation and digital total station is studied,which provides a reliable basis for the information fusion of the two.The pose calculation principle of strapdown inertial navigation and digital total station is analyzed,and a mathematical model for pose calculation is established;the source of pose error of strapdown inertial navigation and digital total station is analyzed,and the corresponding error mathematical model is established.The combined positioning method of strapdown inertial navigation and digital total station is studied to realize the data fusion of the two and improve the positioning accuracy of the coal mine tunneling robot.The model of the coal mine roadway boring robot is established,its pose is defineded,and performed the conversion between the navigation coordinate system and the roadway coordinate system;The combined positioning filtering method of strapdown inertial navigation and digital total station is studied,and the tight combined indirect filtering open loop filtering method is determined;The system state equation and observation equation for the combined positioning of the two is established,and an unscented Kalman filter is designed to achieve the fusion of the two data,and output the precise pose of the coal mine tunneling robotA combination positioning software and hardware system of strapdown inertial navigation and digital total station is designed to realize the autonomous positioning of coal mine roadway driving robots and provide a basis for roadway driving deviation correction.The selection of strapdown inertial navigation and digital total station was completed,carried out hardware system design such as data processing and transmission,and software systems was compiled such as strapdown inertial navigation and digital total station data acquisition,display interface and data storage.A combined positioning experiment platform of strapdown inertial navigation and digital total station was built to verify the combined positioning method.The results show that single strapdown inertial navigation has large positioning error.The combined positioning system of strapdown inertial navigation and digital total station can compensate for the cumulative error of strapdown inertial navigation,and the positioning accuracy is high,which can meet the requirements of coal mine tunneling robots.Positioning requirements.