传感技术学报2025，Vol.38Issue(3)：550-554,5.DOI:10.3969/j.issn.1004-1699.2025.03.023
基于惯性传感器的钻锚机器人机身定位方法研究
Research on the Body Positioning Method of Anchor Drilling Robot Based on Inertial Sensors
摘要
Abstract
The coal mine anchor drilling robot has problems such as poor real-time performance and low positioning accuracy during the positioning process.To this end,a positioning method for the body of anchor drilling robot based on inertial sensors is studied.On the basis of constructing the coordinate system of the anchor drilling robot and its workspace,the inertial sensor is used to align the pose pa-rameters of the anchor drilling robot,and the dynamic model of the anchor drilling robot in the workspace is established to obtain the motion state.Based on the analysis results of its motion state,a photoelectric encoder is used to measure the displacement of the anchor drilling robot and construct an odometer model to obtain the pose motion trajectory of the anchor drilling robot.Extended Kalman filter positioning algorithm is used to complete the positioning of the anchor drilling robot body.The simulation results show that the average positioning error of the proposed method on the x-axis and y-axis is always around 1 cm,without significant fluctuations,and the heading angle error is around 1°,with an average positioning time of 2.20 ms,demonstrating good positioning performance.关键词
惯性传感器/钻锚机器人机身定位/卡尔曼滤波/动力学模型/编码器/里程计模型Key words
inertial sensor/anchor drilling robot body positioning/Kalman filter/dynamic model/encoder/odometer model分类
信息技术与安全科学引用本文复制引用
张诚,袁慧铮,应之歌..基于惯性传感器的钻锚机器人机身定位方法研究[J].传感技术学报,2025,38(3):550-554,5.基金项目
湖北省科技厅科研计划项目-重大专项项目(2017AAA108) （2017AAA108）
