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针对无人工作面采煤机无法利用GPS辅助定位的现实,借鉴捷联惯导定位方法具有自主性和实时性强的特点,提出了基于捷联惯导技术的采煤机位置和运行姿态检测方法,并对采煤机捷联惯导系统的姿态算法进行研究,确定适合采煤机工矿的捷联算法。在分析捷联惯导原理的基础上推导出采煤机的捷联矩阵,进而分析了采煤机姿态的解算算法。为了找出适用于采煤机强干扰工况的捷联惯导姿态算法,用MATLAB仿真了一般情况、圆锥运动和陀螺输出有干扰三种情况下的算法的优劣性,结果表明,四阶龙格库塔法适合作为采煤机姿态解算方法。
In view of the fact that coal mining machine can not utilize GPS aided positioning in unmanned face and learning from SINS positioning method has the characteristics of autonomy and real-time, the position and attitude detection of shearer based on strapdown inertial navigation Method, and research on the attitude algorithm of the strapdown inertial navigation system of shearer to determine the strapdown algorithm suitable for mining machine mining. Based on the analysis of strapdown inertial navigation (SINS) principle, the stochastic matrix of the shearer is deduced, and then the attitude calculation algorithm of shearer is analyzed. In order to find the strapdown inertial navigation attitude algorithm which is fit for the strong jamming condition of shearer, the advantages and disadvantages of the algorithm in three general situations, conical motion and gyro output interference are simulated by MATLAB. The results show that the fourth order Runge-Kutta method is suitable as a method of calculating attitude of shearer.