电子科技2024，Vol.37Issue(4)：8-15,8.DOI:10.16180/j.cnki.issn1007-7820.2024.04.002
双矢量定姿在煤矿掘进机姿态测量中的应用
Application of Double-Vector Attitude Determination in Attitude Measurement of Coal Mine Roadheader
摘要
Abstract
In view of the problems of high-cost and accumulation of errors in the existing attitude measurement methods of roadheader,an attitude measurement algorithm based on the principle of double-vector attitude determi-nation is proposed.By constructing and sensing the gravity-vector and light-vector respectively in the roadway ex-cavation environment,using inertial inclination measurement and binocular vision measurement techniques,the atti-tude of the roadheader carrier coordinate frame relative to the roadway navigation coordinate frame can be realized based on the mathematical expression of vector elements in the navigation coordinate frame and the roadheader carrier coordinate frame.A measuring device that consists of an inclinometer and a binocular camera measures the indicated laser and gravity-vectors,and then the attitude of the roadheader can be solved using the double-vector attitude determination algorithm.The static repeatability measurement experiment is designed,and the experimental results show that the repeatability measurement precision of the attitude angles is 0.066 2°.The simulation analysis of the errors that may be introduced using the Monte Carlo method,which shows that the effect of the errors on the yaw,pitch and roll angles are 0.786 4°,0.454 8° and 0.476 5°,respectively.关键词
双目视觉/姿态测量/双矢量定姿/倾斜仪/煤矿掘进机/姿态角/重复性实验/误差分析Key words
binocular vision/attitude measurement/double-vector attitude determination/inclinometer/coal mine roadheader/attitude angles/repeatability experiment/error analysis分类
信息技术与安全科学引用本文复制引用
徐叶倩,黄喆,沈小玲,赵世艺,李佳雄,王浩森,肖恒..双矢量定姿在煤矿掘进机姿态测量中的应用[J].电子科技,2024,37(4):8-15,8.基金项目
天津市自然科学基金(18JCYBJC88600) （18JCYBJC88600）
天津大学精密测试技术与仪器国家重点实验室开放课题(pilab1905)Natural Science Foundation of Tianjin(18JCYBJC88600) （pilab1905）
State Key Laboratory of Precision Testing Technology and Instruments,Tianjin University(pilab1905) （pilab1905）
