双矢量定姿在煤矿掘进机姿态测量中的应用

doi:10.16180/j.cnki.issn1007-7820.2024.04.002

摘要/Abstract

摘要：

针对现有巷道掘进机的姿态测量手段中普遍存在的高成本和误差累积等问题,文中提出了一种基于双矢量定姿原理的姿态测量算法。通过在巷道掘进环境中分别对重力矢量和光矢量进行构建与感知,利用惯性倾角测量和双目视觉测量技术,基于矢量元素分别在导航坐标系和掘进机载体坐标系中的数学表达,可实现掘进机载体坐标系相对于巷道导航坐标系的姿态解算。利用倾斜仪和双目相机组成的测量装置对指示激光和重力矢量进行测量,结合双矢量定姿算法即可完成掘进机机身的姿态解算。文中设计了静态重复性精度测量实验,结果表明该方法的姿态角重复性测量精度为0.066 2°。利用蒙特卡洛方法对可能会引入的误差源进行仿真分析,结果表明误差对方位角、俯仰角以及滚转角的影响分别为0.786 4°、0.454 8°和0.476 5°。

关键词: 双目视觉, 姿态测量, 双矢量定姿, 倾斜仪, 煤矿掘进机, 姿态角, 重复性实验, 误差分析

Abstract:

In view of the problems of high-cost and accumulation of errors in the existing attitude measurement methods of roadheader, an attitude measurement algorithm based on the principle of double-vector attitude determination is proposed. By constructing and sensing the gravity-vector and light-vector respectively in the roadway excavation environment, using inertial inclination measurement and binocular vision measurement techniques, the attitude of the roadheader carrier coordinate frame relative to the roadway navigation coordinate frame can be realized based on the mathematical expression of vector elements in the navigation coordinate frame and the roadheader carrier coordinate frame. A measuring device that consists of an inclinometer and a binocular camera measures the indicated laser and gravity-vectors, and then the attitude of the roadheader can be solved using the double-vector attitude determination algorithm. The static repeatability measurement experiment is designed, and the experimental results show that the repeatability measurement precision of the attitude angles is 0.066 2°. The simulation analysis of the errors that may be introduced using the Monte Carlo method, which shows that the effect of the errors on the yaw, pitch and roll angles are 0.786 4°, 0.454 8° and 0.476 5°, respectively.

Key words: binocular vision, attitude measurement, double-vector attitude determination, inclinometer, coal mine roadheader, attitude angles, repeatability experiment, error analysis

中图分类号:

徐叶倩, 黄喆, 沈小玲, 赵世艺, 李佳雄, 王浩森, 肖恒. 双矢量定姿在煤矿掘进机姿态测量中的应用[J]. 电子科技, 2024, 37(4): 8-15.

XU Yeqian, HUANG Zhe, SHEN Xiaoling, ZHAO Shiyi, LI Jiaxiong, WANG Haosen, XIAO Heng. Application of Double-Vector Attitude Determination in Attitude Measurement of Coal Mine Roadheader[J]. Electronic Science and Technology, 2024, 37(4): 8-15.

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	方位角/(°)	俯仰角/(°)	滚转角/(°)
测量值	79.999 999 99	-10.000 000 05	-10.000 000 02
仿真值	79.999 696 30	-10.000 000 16	-9.995 409 618

设备	技术参数
激光器	功率	500 mW
ZED2双目相机	分辨率	1 920 px×1 080 px
	帧率	15 Hz
	视场(H×V×D)	110°×70°×120°
	焦距	2.12 mm
	光圈	f/1.8
	像素尺寸	2 mm×2 mm
	基距	120 mm
倾斜仪 SST-460-30	分辨率	0.000 1°
倾斜仪 SST-460-30	测角精度	0.010 0°

姿态角	最大值 /(°)	最小值 /(°)	极值 /(°)	平均值 /(°)	标准差 /(°)
方位角	112.123 7	112.114 8	0.008 9	112.119 2	0.002 1
俯仰角	-0.022 5	-0.088 7	0.066 2	-0.057 6	0.017 9
滚转角	0.224 1	0.167 6	0.056 5	0.193 8	0.015 4

姿态角\误差项		无误差 /(°)	误差1/(°)	误差2/(°)	误差3/(°)	误差4/(°)	误差5/(°)	误差6/(°)	误差7/(°)	总误差 /(°)
方位角	最大值	-43.827 8	-43.777 2	-43.669 6	-43.826 1	-43.819 2	-43.827 3	-43.538 7	-43.827 8	-43.413 7
	最小值	-43.827 8	-43.858 3	-43.991 1	-43.829 5	-43.836 2	-43.828 3	-44.124 6	-43.827 8	-44.200 4
	平均值	-43.827 8	-43.822 4	-43.830 2	-43.827 8	-43.827 7	-43.827 8	-43.829 5	-43.827 8	-43.826 5
	极差	0	0.081 1	0.321 5	0.003 4	0.017 0	0.001 0	0.585 9	0	0.786 4
	标准差	0	0.014 9	0.064 9	0.000 6	0.002 9	0.000 2	0.113 0	0	0.136 6
俯仰角	最大值	1.180 6	1.196 9	1.248 3	1.182 7	1.181 9	1.189 6	1.377 3	1.180 6	1.400 1
	最小值	1.180 6	1.156 3	1.119 6	1.178 7	1.179 6	1.171 3	0.967 7	1.180 6	0.945 3
	平均值	1.180 6	1.176 6	1.178 2	1.180 6	1.180 6	1.180 6	1.183 6	1.180 6	1.177 1
	极差	0	0.040 6	0.128 7	0.004 0	0.002 3	0.018 3	0.409 6	0	0.454 8
	标准差	0	0.007 0	0.024 1	0.000 7	0.000 4	0.003 1	0.080 7	0	0.087 9
滚转角	最大值	15.225 4	15.250 9	15.289 4	15.227 4	15.226 5	15.234 0	15.448 3	15.225 4	15.471 4
	最小值	15.225 4	15.208 4	15.154 8	15.223 2	15.224 1	15.216 5	15.019 5	15.225 4	14.994 9
	平均值	15.225 4	15.229 6	15.228 0	15.225 5	15.225 4	15.225 4	15.222 3	15.225 4	15.229 0
	极差	0	0.042 5	0.134 6	0.004 2	0.002 4	0.017 5	0.428 8	0	0.476 5
	标准差	0	0.007 4	0.025 2	0.000 7	0.000 4	0.003 0	0.084 5	0	0.091 9