基于捷联惯导和里程计的井下机器人定位方法研究
Research on positioning method of underground robot based on strapdown inertial navigation and odometer
【索引】马宏伟,张璞,毛清华,等.基于捷联惯导和里程计的井下机器人定位方法研究[J].工矿千亿国际app下载,2019,45(4):35-42.
【Reference】MA Hongwei, ZHANG Pu, MAO Qinghua, et al. Research on positioning method of underground robot based on strapdown inertial navigation and odometer[J].Industry and Mine Automation,2019,45(4):35-42.
【DOI】10.13272/j.issn.1671-251x.2018100054
【作者】马宏伟,张璞,毛清华,周颖
【Author】MA Hongwei,ZHANG Pu,MAO Qinghua,ZHOU Ying
【作者机构】西安科技大学 机械工程学院, 陕西 西安710054
【Unit】College of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China
【摘要】针对现有煤矿井下移动机器人定位方法存在定位难、精度低的问题,提出了一种基于捷联惯导和里程计的井下机器人定位方法。该方法利用卡尔曼滤波对捷联惯导进行初始对准,以此确定定位的初始坐标,得到初始姿态转换矩阵;利用捷联惯导独立完成机器人位置解算,同时利用里程计输出的速度信息与捷联惯导输出的实时姿态转换矩阵进行航位推算解算,再次得到机器人的位置信息;为了减少累积误差对捷联惯导的影响,使用里程计和捷联惯导构成航位推算系统,采用Sage-Husa自适应滤波设计组合定位算法,选择误差作为系统状态,经过滤波计算和校正,可获得机器人的精确位置信息。实验结果表明,该方法可实现机器人实时定位,有效减少捷联惯导累积误差的影响;定位精度较高,机器人在Y向运动4.3 m,Z向运动0.25 m后,Y向定位误差为0.25 m,Z向定位误差为0.005 m。
【Abstract】In order to solve problems of difficult positioning and low precision in positioning method of underground mobile robots, a positioning method of underground robot based on strapdown inertial navigation and odometer was proposed. The method uses Kalman filter to perform initial alignment for strapdown inertial navigation to determine initial coordinates of the positioning, and obtain initial attitude transformation matrix. Then, it uses strapdown inertial navigation to calculate position of the robot independently, and uses the speed information output by the odometer and the real-time attitude transformation matrix output by strapdown inertial navigation to calculate the dead reckoning, so as to obtain the position information of the robot again. In order to reduce influence of the accumulated error on the strapdown inertial navigation, it adopts odometer and strapdown inertial navigation to construct dead reckoning system, and uses Sage-Husa adaptive filtering to design combined positioning algorithm to select errors as the system state. After filtering calculation and correction, the accurate position information of the robot is obtained. The experimental results show that the method can realize real-time positioning of the robot and can effectively reduce influence of the accumulated errors of strapdown inertial navigation. And the method has higher positioning accuracy. After the robot moves 4.3 m in Y direction and 0.25 m in Z direction, the positioning error in Y direction is 0.25 m and the positioning error in Z direction is 0.005 m.
【关键词】 煤矿井下机器人; 移动机器人定位; 捷联惯导; 里程计; 初始对准; 航位推算
【Keywords】coal mine underground robot; positioning of mobile robot; strapdown inertial navigation; odometer; initial alignment; dead reckoning
【文献出处】工矿千亿国际app下载,2019年4期
【基金】陕西省创新人才计划项目(2018TD-032)
【分类号】TD67
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