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

Abstract

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

CLC Number:

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.

Figures/Tables 14

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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

Application of Double-Vector Attitude Determination in Attitude Measurement of Coal Mine Roadheader

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