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铲运机工作的地下巷道狭窄且环境恶劣,实现其智能控制,可有效保证操控人员安全和提高生产效率,而定位导航系统是实现智能控制的前提。根据地下智能铲运机的运动特性及地下巷道的特殊环境,提出了一种电子地图组合定位导航系统。根据井下智能铲运机航迹推算系统的组成及特点对其误差模型进行分析研究。搭建基于电子地图、航位推算子系统和激光测距/识别导航子系统的智能铲运机数学算法模型,为了校核算法对智能铲运机航向误差和位置误差的效果,对模型控制效果进行分析。根据不同的巷道环境需要,采用投影法、模式识别法等地图匹配方法,对铲运机的组合导航系统的程序进行设计。采用加权最小二乘法对智能铲运机位置误差进行校核。结果表明:电子地图组合定位导航系统控制效果良好,误差较小,该组合定位导航系统能有效完成铲运机的导航指令。
Underground excavation work underground road narrow and harsh environment to achieve its intelligent control, which can effectively ensure the safety of personnel and improve production efficiency control, and positioning navigation system is to achieve the premise of intelligent control. According to the movement characteristics of underground smart scraper and the special environment of underground tunnels, an electronic map combination positioning navigation system is proposed. According to the composition and characteristics of downhole intelligent scraper trajectory estimation system, the error model is analyzed. To build mathematical model of intelligent scraper based on electronic map, dead reckoning subsystem and laser ranging / recognition navigation subsystem, in order to check the effect of the algorithm on heading error and position error of intelligent scraper, the model control effect analysis. According to the needs of different roadway environment, using the map matching method such as projection method and pattern recognition method, the program of integrated navigation system of scraper is designed. Weighted least squares method to check the position error of intelligent scraper. The results show that the control effect of the electronic map combined positioning and navigation system is good and the error is small. The combined positioning and navigation system can effectively accomplish the navigation instructions of the scraper.