传感技术学报2016，Vol.29Issue(2)：306-312,7.DOI:10.3969/j.issn.1004-1699.2016.02.026
基于惯性技术的端帮采煤机姿态测量仪设计
The Design of Attitude Determination Instrument for End Slope Coal Mining Machine Based on Inertial Technology
摘要
Abstract
According to the special mechanical structure,motion work mode and the requirement of timing and accuracy for un⁃manned attitude determination of the end slope coal mining. The attitude determined machine based on inertial resolution was designed in this paper. The level alignment with gravity sensed by accelerometers was carried out. The state identification for vehicle could be detected by sensationed of coal cutter motion state based on the inertial navigation system. The zero detected closed-loop Kalman filter was introduced to revise the inertial bias and attitude errors. Turntable and mobile vehicle experiments were carried out based on data collection and processing platform with DSP and FPGA. Experiment results show that,the zero detected closed loop Kalman filter could be used to finish the attitude detection effectively and accurately.关键词
端帮采煤/惯性导航/姿态/实验测试Key words
end slope coal mining/inertial navigation/attitude/experiment testing分类
计算机与自动化引用本文复制引用
孙伟,闫慧芳,李瑞豹,丁伟..基于惯性技术的端帮采煤机姿态测量仪设计[J].传感技术学报,2016,29(2):306-312,7.基金项目
国家自然科学基金项目（41304032）；高等学校博士学科点专项科研基金项目（新教师类）（20132121120005）；第8批中国博士后科学基金特别项目（2015T80265）；对地观测技术国家测绘地理信息局重点实验室开放基金项目（K201401）；江西省数字国土重点实验室开放研究基金项目（DLLJ201501）；地球空间环境与大地测量教育部重点实验室开放基金项目（14-01-05）；第58批中国博士后科学基金面上项目（2015M581360）；辽宁省高等学校杰出青年学者成长计划项目（LJQ2015044）；辽宁省自然科学基金项目（2015020078）；辽宁省“百千万人才工程”培养经费项目（辽百千万立项［2015］76号）；航空遥感技术国家测绘地理信息局重点实验经费课题项目（2015B11）；精密工程与工业测量国家测绘地理信息局重点实验室开放基金项目（PF2015-13）；海岛（礁）测绘技术国家测绘地理信息局重点实验室项目 （）
