摘要
煤矿井下作业环境复杂,对综掘机、矿井机车等设备以及人员的准确定位,可以为井下安全作业提供保障。惯性定位在井下定位中应用广泛,作为惯性定位中重要的测量元件,惯性陀螺仪测量精度决定惯性定位是否准确。针对陀螺仪在测量姿态角时存在的随机误差问题,提出利用卡尔曼滤波算法减小姿态角的数据漂移。最后采用实验的方法总结姿态角的误差规律,并完成姿态角数据的误差补偿。
The minerworking environment of coal mine is complex, the accurate positioning of the equipment and personnel of the mechanized mining machine and the mine locomotive can provide a guarantee for the miner safety working.Inertial positioning is widely used in underground positioning. As an important measuring element in inertial positioning, the accuracy of inertial gyroscope determines whether the inertial positioning is accurate.In view of the random error of gyroscope when measuring the attitude angle, the Kalman filtering algorithm is proposed to reduce the data drift of the attitude angle. Finally, the experimental method is used to sum up the error law of the attitude angle, and the error compensation of the attitude angle data is completed.
作者
张力
赵子恺
许晓东
Zhang Li;Zhao Zikai;Xu Xiaodong(College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China)
出处
《煤矿机械》
北大核心
2018年第6期50-52,共3页
Coal Mine Machinery
关键词
煤矿井下作业
惯性陀螺仪
卡尔曼滤波算法
误差补偿
underground work in coal mine
inertial gyroscope
Kalman filtering algorithm
error compensation
作者简介
张力（1991-），江苏淮安人，硕士，研究方向：自动化技术、惯性导航定位，电子信箱：541201679@qq．com．
