Aposition and orientationmeasurement method of single-station, multipoint and time-sharing forroadheaderbody based on iGPS

作者：Tao Yun Fei; Zong Kai; Zhang Min Jun; Jia Wen Hao; Fu Shi Chen; Yang Jian Jian; Wu Miao

来源：Journal of China Coal Society, 2015, 40(11): 2611-2616.

DOI：10.13225/j.cnki.jccs.2015.7063

• Computational model
• Computational parameters
• High-precision position
• IGPS
• Position and orientation measurements
• Position and orientations
• Roadheaders
• Time-sharing

In order to realize autonomous and high-precision position and orientation measurement of roadheader body, a position and orientation measurement method of single-station, multipoint and time-sharing based on iGPS is put forward. The feasibility and distribution laws of the measurement error of the proposed measurement method are also studied. The position and orientation computational parameters of roadheader are inferred by analyzing the current different position and orientation measurement methods of roadheader body and applying iGPS technology. After formulating the composition and principle of the proposed measurement method, a computational model of receiver position (x, y and z) is constructed based on the principle and the working characteristics of roadheader. Then the regularity of measurement error of receiver position (x, y and z) at different measurement distances is obtained through Matlabmodel simulation. Results indicate that the measurement error of receiver position (x, y and z) increases with the increase of measurement distance, and the y-axis growth rate of the measurement error is larger than x-axis and z-axis growth rates;and the measurement error decreases as the measurement number increases. The maximum measurement error of y-axis is 0.070 m on the conditions of 40 m and 200 times. Comparing simulation results with the requirements of National Coal Mine Engineering Acceptance Standard, the maximum measurement error of the method is less than the specified value and satisfies the requirement of position and orientation measurement of roadheader.

• 出版日期2015
• 单位中国矿业大学（北京）