无人工作面采煤机自主定位系统

基于依靠惯性仪表为导航信息源的导航系统无需外部信息源、不向外部辐射能量的优点,研究国内外采煤机自主定位系统现状,分析井下采煤机工作环境、运动路线以及影响采煤机运动轨迹的因素,确定采煤机在不同运动路线的运动特征,建立一个复杂程度满足要求的动力学模型;选用微机械陀螺和加速度计2种传感器组合自主定位系统。实验室模拟实验结果表明,惯性传感器误差是导致自主定位系统精度低的主要因素,据此提出利用环境特征、路标识别以及基于GIS的地图匹配技术来减少系统误差,提高自主定位精度。

Self-positioning system of the shearer in unmanned workface

Based on the advantages of navigation system which accessed to navigation information source on inertial instruments,didn't require external sources of information and radiate energy to external.The current situations about shearer self-positioning system at home and abroad were studied.Underground mining environment,shearer movement routes and important factors to determine shearer trajectory were analyzed.The shearer movement features in different movement routes were identified,and complexity of dynamic model to meet the requirements was established.MEMS gyroscope and accelerometer sensors were selected for self-positioning system by which laboratory simulation test was done.The results show that inertial sensor error is the main factor to make self-positioning system accuracy low.It is proposed that making use of integrated technologies of environmental features,road signs and map-matching technology based on GIS reduces the integration system error,and improve the accuracy of self-positioning.