Research on UWB Positioning Algorithm of Coalmine Boom-type Roadheader in Tunnel
In order to improve the intelligent and unmanned level of coalmine tunneling equipment,aiming at the is-sue that the laser pointing method which is commonly adopted in tunnel cannot effectively provide self-dominant con-trol and pose parameters of roadheader,and also the issue of decreased positioning accuracy and poor system robust-ness caused by sensor synchronization offset.An ultra-wideband TDOA positioning algorithm for boom-type roadheader based on regularized constrained total least squares and alternating direction method of multipliers is proposed.The RCTLS and ADMM fusion algorithm is used to optimize the function and multi-variable alternating iteration according to the ranging data between the UWB stations and tages,the key nodes positioning of the roadheader is realized.The experimental results show that when the ranging error is large,the positioning accuracy and robustness of the algo-rithm are better than those of several existing TDOA positioning methods.
ultra wide band(UWB)pose sensingboom-type roadheaderalternating direction method of multipliers(ADMM)
NETL
NSTL
万方数据
维普
