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Coal Science and Technology. 2022, (08) Core

Automatic positioning and orientation method of roadheader based on combination of ins and digital total stationChinese Full TextEnglish Full Text (MT)

MA Hongwei;MAO Jingen;MAO Qinghua;ZHANG Xuhui;LIU Boxing;School of Mechanical Engineering,Xi’an University of Science and Technology;Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Detection and Control;

Abstract: Aiming at the problems of inaccurate positioning and orientation of the roadheader and low degree of automation, a method for autonomous positioning and orientation of the roadheader based on the combination of fiber optic inertial navigation and digital total station is proposed in the paper. By analyzing the principle of combined positioning and orientation of fiber optic strapdown inertial navigation and digital total station, the error model of fiber optic strapdown inertial navigation and d... More
Keywords：

roadheader; fiber optic strapdown inertial navigation; digital total station; positioning orientation; Kalman filter;

  • DOI：

    10.13199/j.cnki.cst.2020-0910

  • Series：

    (B) Chemistry/ Metallurgy/ Environment/ Mine Industry; (I) Electronic Technology ＆ Information Science

  • Subject：

    Mining Engineering; Automation Technology

  • Classification Code：

    TD632.2

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