CN110160557A - A kind of development machine inertial navigation system two-dimensional position precision calibration method and system - Google Patents
A kind of development machine inertial navigation system two-dimensional position precision calibration method and system Download PDFInfo
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Abstract
The invention discloses a kind of development machine inertial navigation system two-dimensional position precision calibration method and systems, the step of this method, comprises determining that reference orientation, and is reference with reference orientation, and a total station is arranged in designated position, development machine is controlled along assigned direction simultaneously, is advanced with pre-set velocity；Characteristic point is set on development machine, total station is controlled in the first two-dimensional surface position coordinates of preset time point acquisition characteristics point, while controlling second two-dimensional surface position coordinates of the inertial navigation system in time point identical with total station acquisition development machine of development machine；By the first two-dimensional surface position coordinates of analysis and the second two-dimensional surface position coordinates, data analysis is carried out, evaluates the two-dimensional localization precision of tested inertial navigation system.By means of the invention it is possible to complete the centimeter-level positioning precision calibration to development machine inertial navigation system using gyroscope north searching theodolite rad grade detection accuracy and total station grade detection accuracy.
Description
Technical field
The present invention relates to position precision calibration field more particularly to a kind of development machine inertial navigation system two-dimensional position precision
Scaling method and system.
Background technique
A large amount of dust, noise and the existing very big security risk generated in coal mine roadway cutting course is automatic to development machine
Change and unmanned operation proposes urgent requirement, wherein development machine automatic navigation technology becomes one of key technology.Inertia is led
Boat technology has well solved the environmental suitability problem that underground coal mine development machine optical navigation technology encounters, therefore becomes in recent years
Carry out the research hotspot in industry.
" coal mine roadway molding specification " requires tunnel boundary bias to be no more than -25mm~150mm, it is contemplated that development machine control
The deviation amplification of precision and cantilever, development machine space orientation detection accuracy should reach Centimeter Level, posture and course detection essence
Degree reaches angle classification and is possible to realize the section formed precision that " specification " requires.
In other application field, generallys use the track test verifying for carrying satellite positioning and calibration inertial navigation system is fixed
Position precision, or using the methods of terrain match or mileage calibration, but be difficult to carry out Centimeter Level precision test, or can only be gone
Two-dimensional planar location precision test can not be carried out into distance verifying, and this is exactly required by development machine navigator fix.
Summary of the invention
A kind of development machine inertial navigation system two is provided it is an object of the invention to avoid the deficiencies in the prior art place
Tie up position precision scaling method and system.
The purpose of the present invention can be realized by using following technical measures, design a kind of development machine inertial navigation system
The step of system two-dimensional position precision calibration method, this method, comprises determining that reference orientation, and is reference with reference orientation, is referring to
Positioning installs a total station, while controlling development machine along assigned direction, is advanced with pre-set velocity；Feature is set on development machine
Point controls total station in the first two-dimensional surface position coordinates of preset time point acquisition characteristics point, while controlling development machine
Second two-dimensional surface position coordinates of the inertial navigation system in time point identical with total station acquisition development machine；It is complete by analyzing
Second two-dimensional surface position of the inertial navigation system acquisition of the first two-dimensional surface position coordinates and development machine of instrument of standing acquisition is sat
Mark carries out data analysis, evaluates the two-dimensional localization precision of inertial navigation system.
It wherein, further include that direct north is determined by a gyroscope north searching theodolite in the step of determining reference orientation
Step.
Wherein, if gyroscope north searching theodolite is located at O1, O1N1For the direct north that north finder obtains, O1E1For its east orientation；Entirely
Instrument of standing is located at o1, when gyroscope north searching theodolite is sighted mutually with total station, O1、o1Line is with respect to gyroscope north searching theodolite due north
Direction O1N1Angle be α, opposite total station direct north O1N2Angle be β, at this time be arranged total station horizontal angle beta=α, then
The reference orientation and measuring basis of total station are arranged to direct north.
Wherein, in the step of evaluating the two-dimensional localization precision of tested inertial navigation system, comprising steps of
If (xi,t,yi,t)、(xi+1,t,yi+1,t) ..., (xi+n,t,yi+n,t) it is the straight path for being distributed in development machine traveling
On n test position the first two-dimensional surface position coordinates, (xi,I,yi,I)、(xi+1,I,yi+1,I) ..., (xi+n,I,yi+n,I)
For corresponding second two-dimensional surface position coordinates, then its fitting a straight line expression formula is respectively,
yt=kt·xt+bt；
yI=kI·xI+bI；
Development machine inertial navigation system sensitive axes are with development machine axis direction angle,
α=arctan kt-arctan kI；
Then inertial navigation system measured value should be modified to
Inertial navigation system is in o1X1And o1Y1The position deviation in direction is respectively
Δxi=xi,t-xi,I', i=1,2 ..., n
With
Δyi=yi,t-yi,I', i=1,2 ..., n
Then inertial navigation system is in o1X1And o1Y1The deviations mean value in direction is respectively
Inertial navigation system is in o1X1And o1Y1The standard deviation of the deviations in direction is respectively
The positioning accuracy of tested inertial navigation system can be demarcated using formula (1), (2), (3), (4).
The purpose of the present invention can be realized by using following technical measures, design a kind of development machine inertial navigation system
System two-dimensional position precision calibration system, comprising: gyroscope north searching theodolite, total station and data analysis set-up；Wherein, the gyro
Northern theodolite is sought for determining reference orientation, and determines the position of total station according to reference orientation；Total station is used for timing acquiring
The first two-dimensional surface position coordinates in development machine moving process, while the of the inertial navigation system acquisition development machine of development machine
Two two-dimensional surface position coordinates, and number is sent by the first two-dimensional surface position coordinates and the second two-dimensional surface location coordinate information
According to analytical equipment；The data analysis set-up is according to the first two-dimensional surface position coordinates and the second two-dimensional surface location coordinate information
Data analysis is carried out, the two-dimensional localization precision of inertial navigation system is evaluated.
Wherein, gyroscope north searching theodolite enters process of measurement after slightly inputting and operating to north, to the heart, latitude, seeks northern mistake
After journey, gyroscope north searching theodolite is aimed at into total station, the angle measured at this time is the north orientation azimuth of total station.
It is different from the prior art, the step of development machine inertial navigation system two-dimensional position precision calibration method of the invention wraps
It includes: determining reference orientation, and be reference with reference orientation, one total station is set in designated position, while controlling development machine edge and referring to
Determine direction, is advanced with pre-set velocity；Characteristic point is set on development machine, controls total station in preset time point acquisition characteristics point
The first two-dimensional surface position coordinates, while the inertial navigation system for controlling development machine acquires at time point identical with total station
Second two-dimensional surface position coordinates of development machine；Pass through the first two-dimensional surface position coordinates and development machine of analysis total station acquisition
Inertial navigation system acquisition the second two-dimensional surface position coordinates, carry out data analysis, evaluate tested inertial navigation system
Two-dimensional localization precision.By means of the invention it is possible to utilize gyroscope north searching theodolite rad grade detection accuracy and total station grade
Detection accuracy completes the centimeter-level positioning precision calibration to development machine inertial navigation system.
Detailed description of the invention
Fig. 1 is a kind of process signal of development machine inertial navigation system two-dimensional position precision calibration method provided by the invention
Figure；
Fig. 2 is measuring basis in a kind of development machine inertial navigation system two-dimensional position precision calibration method provided by the invention
The schematic diagram of transmittance process；
Fig. 3 is a kind of structural representation of development machine inertial navigation system two-dimensional position precision calibration system provided by the invention
Figure.
Specific embodiment
Further more detailed description is made to technical solution of the present invention With reference to embodiment.Obviously, it is retouched
The embodiment stated is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention,
Those of ordinary skill in the art's every other embodiment obtained without creative labor, all should belong to
The scope of protection of the invention.
Refering to fig. 1, Fig. 1 is a kind of development machine inertial navigation system two-dimensional position precision calibration method provided by the invention
Flow diagram.The step of this method includes:
S110: determining reference orientation, and is reference with reference orientation, and a total station is arranged in designated position, controls simultaneously
Development machine is advanced along assigned direction with pre-set velocity.
In the present invention, determine that reference orientation is using the determining direct north of gyroscope north searching theodolite as reference orientation.
Common gyroscope north searching theodolite is by high-precision dual-axis dynamic tuned gyroscope by measurement rotational-angular velocity of the earth, autonomous to determine
The real north value of appended carrier, measurement process not by external magnetic field or other environment interference and influence.In addition, it can also be with
The measurement and amendment of level angle are carried out in conjunction with acceleration.
In the actual operation process, gyroscope north searching theodolite and total station and respectively level-off are set up first；Control gyro
It seeks northern theodolite execution and seeks northern operation；After gyroscope north searching theodolite seeks northern process, gyroscope north searching theodolite and whole station are operated
Instrument is mutually taken aim at and is aligned, and the horizontal angle numerical value that gyroscope north searching theodolite is shown inputs total station as the horizontal angle of total station, complete
At preparation.
Calibration process is exactly the process of unifying datum and datum tool, measuring basis transmittance process such as Fig. 2 institute in the present invention
Show.
Specifically, setting gyroscope north searching theodolite is located at O1, O1N1For the direct north that north finder obtains, O1E1For its east orientation；
Total station is located at o1, when gyroscope north searching theodolite is sighted mutually with total station, O1、o1Line is just with respect to gyroscope north searching theodolite
The north is to O1N1Angle be α, opposite total station direct north O1N2Angle be β, at this time be arranged total station horizontal angle beta=α,
Then the reference orientation of total station and measuring basis are arranged to direct north.
S120: being arranged characteristic point on development machine, and control total station acquires the of the characteristic point at preset time point
One two-dimensional surface position coordinates, while the inertial navigation system for controlling the development machine acquires at time point identical with total station
Second two-dimensional surface position coordinates of development machine.
In the present invention, for convenience of test calibration, the test car replacement driving for carrying inertial navigation system is generallyd use
Machine.Test car drives convenient and energy-saving, and the operation of analog development machine, therefore can be very good substitution driving in the present invention
The two-dimensional position precision calibration of machine progress inertial navigation system.
The test car edge that driving is mounted with tested inertial navigation system presets straight path with about 5~10 ms/min
The speed of clock is advanced, and is stopped after about 1 minute；The operation of traveling and stopping is performed a plurality of times, and after test car stopping, passing through
The current two-dimensional surface position coordinates of total station collecting test trolley.
If the inertial navigation system of tested trolley is located at o2, sensitive axis direction is respectively o2Y2And o2X2, its own north
To for o2N2, o2E2For its east orientation, o2V is its direction of travel, direction of travel and its sensitive axes o2Y2Between angle be γ.
Only consider position detection accuracy of the inertial navigation system in two-dimensional surface, then the position of its short transverse can be ignored
Change.The spatial position coordinate of a certain specified point on inertial navigation system shell is detected with the total station for setting horizontal angle.
Operation total station aims at previously selected characteristic point on tested inertial navigation system shell and measures its two-dimensional surface
Position coordinates as the first two-dimensional surface position coordinates and are recorded；Total station prism special can be used to improve precision.Entirely
Instrument of standing acquires the first two-dimensional surface of multiple groups position coordinates, while recording the 2nd 2 of the output of the inertial navigation system on test car the
Tie up position coordinates.Two kinds at least 10 groups of two-dimensional surface position coordinates preferred acquisition.
S130: it is adopted by the first two-dimensional surface position coordinates of analysis total station acquisition and the inertial navigation system of development machine
Second two-dimensional surface position coordinates of collection carry out data analysis, evaluate the two-dimensional localization precision of tested inertial navigation system.
After the completion of coordinate acquisition, data point are carried out to the first two-dimensional surface position coordinates and the second two-dimensional surface position coordinates
Analysis.
Specifically, setting (xi,t,yi,t)、(xi+1,t,yi+1,t) ..., (xi+n,t,yi+n,t) be distributed in development machine traveling it is straight
First two-dimensional surface position coordinates of n test position on line tracking, (xi,I,yi,I)、(xi+1,I,yi+1,I) ..., (xi+n,I,
yi+n,I) it is corresponding second two-dimensional surface position coordinates, then its fitting a straight line expression formula is respectively,
yt=kt·xt+bt；
yI=kI·xI+bI；
Development machine inertial navigation system sensitive axes are with development machine axis direction angle,
α=arctan kt-arctan kI；
Then inertial navigation system measured value should be modified to
Inertial navigation system is in o1X1And o1Y1The position deviation in direction is respectively
Δxi=xi,t-xi,I', i=1,2 ..., n
With
Δyi=yi,t-yi,I', i=1,2 ..., n
Then inertial navigation system is in o1X1And o1Y1The deviations mean value in direction is respectively
Inertial navigation system is in o1X1And o1Y1The standard deviation of the deviations in direction is respectively
The positioning accuracy of tested inertial navigation system can be demarcated using formula (1), (2), (3), (4).
It is different from the prior art, the step of development machine inertial navigation system two-dimensional position precision calibration method of the invention wraps
It includes: determining reference orientation, and be reference with reference orientation, one total station is set in designated position, while controlling development machine edge and referring to
Determine direction, is advanced with pre-set velocity；Characteristic point is set on development machine, controls total station in preset time point acquisition characteristics point
The first two-dimensional surface position coordinates, while the inertial navigation system for controlling development machine acquires at time point identical with total station
Second two-dimensional surface position coordinates of development machine；Pass through the first two-dimensional surface position coordinates and development machine of analysis total station acquisition
Inertial navigation system acquisition the second two-dimensional surface position coordinates, carry out data analysis, evaluate tested inertial navigation system
Two-dimensional localization precision.By means of the invention it is possible to utilize gyroscope north searching theodolite rad grade detection accuracy and total station grade
Detection accuracy completes the centimeter-level positioning precision calibration to development machine inertial navigation system.
It is a kind of development machine inertial navigation system two-dimensional position precision calibration system provided by the invention refering to Fig. 3, Fig. 3
Structural schematic diagram.The device 200 includes:
Gyroscope north searching theodolite 1, total station 2 and data analysis set-up 3；Wherein, gyroscope north searching theodolite 1 is for determining ginseng
According to direction, and determine according to reference orientation the position of total station 2；Total station 2 is in 10 moving process of timing acquiring development machine
The first two-dimensional surface position coordinates, while development machine 10 inertial navigation system 11 acquire development machine 12 the second two-dimensional surface
Position coordinates, and data analysis set-up is sent by the first two-dimensional surface position coordinates and the second two-dimensional surface location coordinate information
3；Data analysis set-up 3 carries out data point according to the first two-dimensional surface position coordinates and the second two-dimensional surface location coordinate information
The two-dimensional localization precision of inertial navigation system 11 is evaluated in analysis.
Gyroscope north searching theodolite 1 enters process of measurement after slightly inputting and operating to north, to the heart, latitude, seeks northern process knot
Gyroscope north searching theodolite 1 is aimed at total station 2 by Shu Hou, and the angle measured at this time is the north orientation azimuth of total station 2.
Specifically, setting gyroscope north searching theodolite is located at O1, O1N1For the direct north that north finder obtains, O1E1For its east orientation；
Total station is located at o1, when gyroscope north searching theodolite is sighted mutually with total station, O1、o1Line is just with respect to gyroscope north searching theodolite
The north is to O1N1Angle be α, opposite total station direct north O1N2Angle be β, at this time be arranged total station horizontal angle beta=α,
Then the reference orientation of total station and measuring basis are arranged to direct north.As shown in Figure 3.
The test car edge that driving is mounted with tested inertial navigation system presets straight path with about 5~10 ms/min
The speed of clock is advanced, and is stopped after about 1 minute；The operation of traveling and stopping is performed a plurality of times, and after test car stopping, passing through
The current two-dimensional surface position coordinates of total station collecting test trolley.
If the inertial navigation system of tested trolley is located at o2, sensitive axis direction is respectively o2Y2And o2X2, its own north
To for o2N2, o2E2For its east orientation, o2V is its direction of travel, direction of travel and its sensitive axes o2Y2Between angle be γ.
Only consider position detection accuracy of the inertial navigation system in two-dimensional surface, then the position of its short transverse can be ignored
Change.The spatial position coordinate of a certain specified point on inertial navigation system shell is detected with the total station for setting horizontal angle.
Operation total station aims at previously selected characteristic point on tested inertial navigation system shell and measures its two-dimensional surface
Position coordinates as the first two-dimensional surface position coordinates and are recorded；Total station prism special can be used to improve precision.Entirely
Instrument of standing acquires the first two-dimensional surface of multiple groups position coordinates, while recording the 2nd 2 of the output of the inertial navigation system on test car the
Tie up position coordinates.Two kinds at least 10 groups of two-dimensional surface position coordinates preferred acquisition.
After the completion of coordinate acquisition, data point are carried out to the first two-dimensional surface position coordinates and the second two-dimensional surface position coordinates
Analysis.
Specifically, setting (xi,t,yi,t)、(xi+1,t,yi+1,t) ..., (xi+n,t,yi+n,t) be distributed in development machine traveling it is straight
First two-dimensional surface position coordinates of n test position on line tracking, (xi,I,yi,I)、(xi+1,I,yi+1,I) ..., (xi+n,I,
yi+n,I) it is corresponding second two-dimensional surface position coordinates, then its fitting a straight line expression formula is respectively,
yt=kt·xt+bt；
yI=kI·xI+bI；
Development machine inertial navigation system sensitive axes are with development machine axis direction angle,
α=arctan kt-arctan kI；
Then inertial navigation system measured value should be modified to
Inertial navigation system is in o1X1And o1Y1The position deviation in direction is respectively
Δxi=xi,t-xi,I', i=1,2 ..., n
With
Δyi=yi,t-yi,I', i=1,2 ..., n
Then inertial navigation system is in o1X1And o1Y1The deviations mean value in direction is respectively
Inertial navigation system is in o1X1And o1Y1The standard deviation of the deviations in direction is respectively
The positioning accuracy of tested inertial navigation system can be demarcated using formula (1), (2), (3), (4).
It is different from the prior art, development machine inertial navigation system two-dimensional position precision calibration system of the invention, comprising: top
Spiral shell seeks northern theodolite, total station and data analysis set-up；Wherein, gyroscope north searching theodolite is for determining reference orientation, and according to
Reference orientation determines the position of total station；Total station is for the first two-dimensional surface position in timing acquiring development machine moving process
Coordinate, while the second two-dimensional surface position coordinates of the inertial navigation system acquisition development machine of development machine, and the first two dimension is flat
Face position coordinates and the second two-dimensional surface location coordinate information are sent to data analysis set-up；Data analysis set-up is according to the one or two
Dimensional plane position coordinates and the second two-dimensional surface location coordinate information carry out data analysis, and the two dimension for evaluating inertial navigation system is fixed
Position precision.By means of the invention it is possible to utilize gyroscope north searching theodolite rad grade detection accuracy and total station grade detection accuracy
Complete the centimeter-level positioning precision calibration to development machine inertial navigation system.
The above is only embodiments of the present invention, are not intended to limit the scope of the invention, all to utilize the present invention
Equivalent structure or equivalent flow shift made by specification and accompanying drawing content is applied directly or indirectly in other relevant technologies
Field is included within the scope of the present invention.
Claims (6)
1. a kind of development machine inertial navigation system two-dimensional position precision calibration method characterized by comprising
It determines reference orientation, and is reference with reference orientation, one total station is set in designated position, while controlling development machine edge and referring to
Determine direction, is advanced with pre-set velocity；
Characteristic point is set on development machine, and control total station acquires the first two-dimensional surface of the characteristic point at preset time point
Position coordinates, while the inertial navigation system of the development machine is controlled the of time point identical with total station acquisition development machine
Two two-dimensional surface position coordinates；
Pass through the second of the inertial navigation system acquisition of the first two-dimensional surface position coordinates and development machine of analysis total station acquisition
Two-dimensional surface position coordinates carry out data analysis, evaluate the two-dimensional localization precision of inertial navigation system.
2. development machine inertial navigation system two-dimensional position precision calibration method according to claim 1, which is characterized in that
In the step of determining reference orientation, further include the steps that determining direct north by a gyroscope north searching theodolite.
3. development machine inertial navigation system two-dimensional position precision calibration method according to claim 2, which is characterized in that set
Gyroscope north searching theodolite is located at O1, O1N1For the direct north that north finder obtains, O1E1For its east orientation；Total station is located at o1, work as top
Spiral shell seeks northern theodolite and when total station is sighted mutually, O1、o1Line is with respect to gyroscope north searching theodolite direct north O1N1Angle be
α, opposite total station direct north O1N2Angle be β, total station horizontal angle beta=α, the then reference orientation of total station are set at this time
And measuring basis is arranged to direct north.
4. development machine inertial navigation system two-dimensional position precision calibration method according to claim 1, which is characterized in that
In the step of evaluating the two-dimensional localization precision of tested inertial navigation system, comprising steps of
If (xi,t,yi,t)、(xi+1,t,yi+1,t) ..., (xi+n,t,yi+n,t) it is the n being distributed on the straight path of development machine traveling
First two-dimensional surface position coordinates of a test position, (xi,I,yi,I)、(xi+1,I,yi+1,I) ..., (xi+n,I,yi+n,I) it is to correspond to
The second two-dimensional surface position coordinates, then its fitting a straight line expression formula be respectively,
yt=kt·xt+bt；
yI=kI·xI+bI；
Development machine inertial navigation system sensitive axes are with development machine axis direction angle,
α=arctan kt-arctan kI；
Then inertial navigation system measured value should be modified to
Inertial navigation system is in o1X1And o1Y1The position deviation in direction is respectively
Δxi=xi,t-xi,I', i=1,2 ..., n
With
Δyi=yi,t-yi,I', i=1,2 ..., n
Then inertial navigation system is in o1X1And o1Y1The deviations mean value in direction is respectively
Inertial navigation system is in o1X1And o1Y1The standard deviation of the deviations in direction is respectively
The positioning accuracy of tested inertial navigation system can be demarcated using formula (1), (2), (3), (4).
5. a kind of development machine inertial navigation system two-dimensional position precision calibration system characterized by comprising gyroscope north searching longitude and latitude
Instrument, total station and data analysis set-up；Wherein, the gyroscope north searching theodolite is used to determine reference orientation, and according to reference side
To the position for determining total station；Total station is used for the first two-dimensional surface position coordinates in timing acquiring development machine moving process,
Second two-dimensional surface position coordinates of the inertial navigation system acquisition development machine of development machine simultaneously, and by the first two-dimensional surface position
Coordinate and the second two-dimensional surface location coordinate information are sent to data analysis set-up；The data analysis set-up is according to the first two dimension
Plan-position coordinate and the second two-dimensional surface location coordinate information carry out data analysis, evaluate the two-dimensional localization of inertial navigation system
Precision.
6. development machine inertial navigation system two-dimensional position precision calibration system according to claim 5, which is characterized in that top
Spiral shell seeks northern theodolite and enters process of measurement after slightly inputting and operating to north, to the heart, latitude, after seeking northern process, by gyro
It seeks northern theodolite and aims at total station, the angle measured at this time is the north orientation azimuth of total station.
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| CN115560781A (en) * | 2022-10-28 | 2023-01-03 | 中煤科工集团上海有限公司 | Track for coal mining machine inertial navigation precision evaluation system and evaluation system |
| WO2024087496A1 (en) * | 2022-10-28 | 2024-05-02 | 中煤科工集团上海有限公司 | Inertial navigation accuracy evaluation system and method for coal mining machine |
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