Research on Roadheader Attitude Measurement System Based on IMU Strapdown Inertial Navigation Technology
In order to improve the positioning and navigation accuracy of roadheader and the efficiency of excavation construction,reduce the labor intensity of workers and improve the quality of roadway forming,without the assistance of satellite navigation signals,the attitude detection of coal mine roadheader is the key to realize its intelligent,safe,efficient and accurate operation.Using the low-cost inertial measurement unit(IMU)strapdown inertial navigation unit,by studying the simplified model and pose measurement method of the cantilever roadheader,designed the position measurement system of cantilever roadheader to realize the real-time calculation of roadheader attitude.The model can quickly and accurately calculate the roadheader attitude angle and position results,realize the online monitoring of the posture and position of the roadheader under the harsh environment of the coal mine comprehensive mining face.
NETL
NSTL
万方数据
