基于捷联惯导系统/无线传感器网络的封闭地下矿井采煤机械综合定位

Integrated positioning for coal mining machinery in enclosed underground mine based on SINS/WSN.

作者信息

Fan Qigao, Li Wei, Hui Jing, Wu Lei, Yu Zhenzhong, Yan Wenxu, Zhou Lijuan

机构信息

Key Laboratory of Advanced Process Control for Light Industry, Ministry of Education, Jiangnan University, Wuxi 214122, China.

School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221008, China.

出版信息

ScientificWorldJournal. 2014 Jan 21;2014:460415. doi: 10.1155/2014/460415. eCollection 2014.

DOI:10.1155/2014/460415

PMID:24574891

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC3918390/

Abstract

To realize dynamic positioning of the shearer, a new method based on SINS/WSN is studied in this paper. Firstly, the shearer movement model is built and running regularity of the shearer in coal mining face has been mastered. Secondly, as external calibration of SINS using GPS is infeasible in enclosed underground mine, WSN positioning strategy is proposed to eliminate accumulative error produced by SINS; then the corresponding coupling model is established. Finally, positioning performance is analyzed by simulation and experiment. Results show that attitude angle and position of the shearer can be real-timely tracked by integrated positioning strategy based on SINS/WSN, and positioning precision meet the demand of actual working condition.

摘要

为实现采煤机的动态定位，本文研究了一种基于捷联惯性导航系统（SINS）/无线传感器网络（WSN）的新方法。首先，建立了采煤机运动模型，掌握了采煤机在采煤工作面的运行规律。其次，由于在封闭的地下矿井中使用全球定位系统（GPS）对捷联惯性导航系统进行外部校准不可行，因此提出了无线传感器网络定位策略以消除捷联惯性导航系统产生的累积误差；然后建立了相应的耦合模型。最后，通过仿真和实验对定位性能进行了分析。结果表明，基于捷联惯性导航系统/无线传感器网络的组合定位策略能够实时跟踪采煤机的姿态角和位置，定位精度满足实际工况的要求。