CN110702109A - Coal mining machine inertial navigation/wireless sensor network combined positioning method - Google Patents

Coal mining machine inertial navigation/wireless sensor network combined positioning method Download PDF

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CN110702109A
CN110702109A CN201910487515.1A CN201910487515A CN110702109A CN 110702109 A CN110702109 A CN 110702109A CN 201910487515 A CN201910487515 A CN 201910487515A CN 110702109 A CN110702109 A CN 110702109A
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mobile node
inertial navigation
strapdown inertial
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党宏涛
刘静超
许孝敏
高育宾
姜睿
徐雅琪
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Xijing University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract

A coal mining machine inertia/wireless sensor network combined positioning method comprises a wireless sensing distance measurement method based on RSSI, wherein the received signal strength is converted into the distance between a mobile node and an anchor node, a known logarithm-constant wireless signal propagation model is used, the position coordinate of the mobile node when a signal is transmitted is calculated by using a least square algorithm, each angle is calculated by using a gyroscope and an accelerometer to measure information, and the speed of a strapdown inertial navigation device is calculated; before the next combined navigation updating, the position of the mobile node is calculated in an auxiliary mode by utilizing strapdown inertial navigation speed information; after the anchor node moves along with the hydraulic support and changes in position, the anchor node is positioned by using the position of the mobile node and the corrected strapdown inertial navigation information; the method can solve the problems of mobile node positioning delay error compensation, anchor node position updating and strapdown inertial navigation error correction, and has the advantages of solving the problems of mobile node positioning delay error compensation, anchor node position updating and strapdown inertial navigation error correction.

Description

Coal mining machine inertial navigation/wireless sensor network combined positioning method
Technical Field
The invention belongs to the technical field of coal mining machine positioning, and particularly relates to a coal mining machine inertia/wireless sensor network combined positioning method.
Background
The coal cutter, the hydraulic support and the scraper conveyor are three most important devices of the underground fully mechanized coal mining face, and are matched with each other to finish coal cutting, coal conveying and supporting. The coal mining machine is a leading device, is a main device for cutting and loading coal on a fully mechanized coal mining face, and is a high-integration fully mechanized coal mining device. When the coal cutter works, coal is cut in a reciprocating mode along the track of the scraper conveyor, and the hydraulic support supports the top plate and pushes the working face. In order to realize the automation and remote automatic control of the fully mechanized coal mining face, the coal mining machine needs to be accurately and dynamically positioned, so the positioning of the coal mining machine is a key technology for the automation of coal mine production equipment. The working condition of the fully mechanized coal mining face of the coal mine is complex, and the space is closed, so that the positioning of the coal mining machine is a typical indoor positioning problem in a complex closed environment, which means that the navigation positioning technology of the external environment is not available for the common satellite navigation positioning, astronomical navigation positioning and the like.
The existing coal mining machine positioning method mainly comprises a strapdown inertial navigation positioning method, an infrared positioning method, an ultrasonic positioning method, a gear counting positioning method, a wireless sensor network positioning method and the like.
The strapdown inertial navigation positioning method is a full-autonomous navigation positioning method, without the help of external information, angular velocity and linear acceleration of the coal mining machine are measured in real time by utilizing a three-axis gyroscope and a three-axis accelerometer of the strapdown inertial navigation device, the motion attitude of the coal mining machine is firstly calculated by an attitude updating algorithm by combining initial binding information, then the acceleration is projected to a navigation coordinate system according to the attitude information, and information such as the velocity and the position of the coal mining machine is obtained through integral and quadratic integral. The short-time positioning precision is high, but after long-time work, the positioning precision is reduced due to accumulated errors, and the high-precision positioning and attitude determination are kept by correcting the errors by using a combined navigation method.
The infrared positioning method is characterized in that an infrared transmitting device arranged on a coal mining machine transmits signals, a receiving device arranged on a hydraulic support receives the signals, and the position of the coal mining machine is positioned by utilizing infrared distance measurement.
The ultrasonic positioning method is characterized in that an ultrasonic transmitting device is installed in a roadway of a working face, when a coal mining machine passes through, a machine body transmits ultrasonic waves, the ultrasonic receiving devices receive signals according to all positions, the positions of the coal mining machine are located by ultrasonic ranging, and the ultrasonic waves have the advantages of being capable of penetrating dust, but due to the fact that the working face is long, signal loss is serious, locating accuracy is not high, and therefore use is limited.
The gear counting and positioning method counts the number of rotation turns of the walking gear of the coal mining machine, and the displacement of the coal mining machine along the track direction of the conveyor is calculated according to the number of rotation turns and the circumference of the gear. However, the method can only be used for positioning the one-dimensional position of the coal mining machine along the track direction, is influenced by the gear counting error, and cannot meet the three-dimensional positioning requirement.
The wireless sensor network positioning method is characterized in that a plurality of wireless sensors (called anchor nodes) with known positions are arranged on a hydraulic support, a node to be positioned (called mobile node) is arranged on a coal mining machine, the mobile node transmits a wireless signal, the anchor nodes receive the wireless signal to monitor the position relation between the coal mining machine and the hydraulic support, and the position of the coal mining machine is calculated. However, due to the fact that the working face environment is complex, wireless positioning data are unstable, the anchor nodes can change positions after moving along with the hydraulic support, anchor node position information needs to be updated, meanwhile, the coal mining machine cannot perform attitude determination, and the requirements for real-time positioning and attitude determination cannot be met.
Aiming at the requirements of high-precision positioning and attitude determination of a coal mining machine in a fully mechanized mining face, the strapdown inertial navigation positioning method has the advantages of comprehensive positioning data, high updating rate, high short-time positioning precision, capability of providing attitude information and the like, but the positioning precision can be reduced along with the time due to long-time accumulated errors. The wireless sensor network positioning method adopts wireless signals to measure and calculate so as to obtain position information of the coal mining machine, the wireless sensor network positioning method is used for independently calculating ranging signals at each time, and no information exchange and transmission exists between data at adjacent moments, so that accumulated errors similar to strapdown inertial navigation cannot occur.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a coal mining machine inertia/wireless sensor network combined positioning method, which can solve the problems of mobile node positioning delay error compensation, anchor node position updating and strapdown inertial navigation error correction, and has the advantages of solving the problems of mobile node positioning delay error compensation, anchor node position updating and strapdown inertial navigation error correction.
In order to achieve the purpose, the invention adopts the following technical scheme:
a coal mining machine inertia/wireless sensor network combination positioning method,
step one, a wireless sensing distance measurement method based on RSSI uses a known logarithm-constant wireless signal propagation model, and the received signal strength is converted into the distance between a mobile node and an anchor node; according to anchor node coordinates with known positions, a least square algorithm is utilized
Figure BDA0002085887600000031
Calculating position coordinates P of a mobile node when transmitting a signal0＝(x0y0z0)T(ii) a Wherein: wherein, S is signal intensity, d is distance, A is wireless signal intensity received when the distance between the receiving end and the transmitting end is 1m, and m is path loss; a and m are known parameters, and the distance d is calculated according to S;
step two, measuring information by using a gyroscope and an accelerometer, resolving a pitch angle theta, a course angle psi and a rolling angle gamma of the strapdown inertial navigation device, and calculating the speed V of the strapdown inertial navigation device as [ V [ [ V ]NVUVE]TPosition PI＝[PNPUPE]TAnd longitude λ, latitude
Figure BDA0002085887600000048
A height h;
thirdly, performing inertial/wireless sensor network integrated navigation calculation by using the information in the first step and the second step; the combined navigation filter state variables are
Figure BDA0002085887600000041
Wherein the position error is Delta PI＝[ΔPNΔPUΔPE]TSpeed error Δ V ═ Δ VNΔVUΔVE]TAttitude error phi is [ [ phi ] ]NφUφE]TTop drift
Figure BDA0002085887600000042
Accelerometer zero offset
Figure BDA0002085887600000043
The combined navigation filtering state equation consists of a speed error equation, a position error equation and an attitude error equation of strapdown inertial navigation, and the combined navigation filtering measurement equation is Y-HX-I3×303×303×303×303×3]X；
The interpolation method is adopted to solve the problem that the wireless sensor network and the strapdown inertial navigation positioning information are asynchronous, and the strapdown inertial navigation position is calculated when the mobile node transmits a wireless signal
Figure BDA0002085887600000044
Calculating metrology information
Figure BDA0002085887600000045
The known Kalman filtering algorithm is utilized to obtain the estimated value of the integrated navigation filtering state quantity
Figure BDA0002085887600000046
By using
Figure BDA0002085887600000047
Correcting the position, speed and attitude error of the strapdown inertial navigation;
step four, according to the characteristic of high short-term precision of strapdown inertial navigation, correcting the positioning delay error of the mobile node by using the corrected strapdown inertial navigation speed information V and the positioning delay time tau, and calculating the position P (t) of the mobile node at the moment of combined filteringk)＝P0+V(tk)τ；
Step five, positioning the mobile node along with the coal mining machine in real time in the track operation process, and utilizing strapdown inertial navigation speed information V to assist in calculating the position P (t) ═ P (t) < P > of the mobile node before the next combined navigation updating, namely before the next wireless distance measurement positioning of the mobile node is carried outk)+V(tk)(t-tk)；
Sixthly, after the anchor node changes position along with the movement of the hydraulic support, the anchor node is positioned by utilizing the position of the mobile node and the corrected strapdown inertial navigation information, the unknown anchor node moves to a new position and transmits wireless signals, the mobile node moves along the track direction of the conveyor along with the coal mining machine, the wireless signals are received at a plurality of positions, the RSSI algorithm is utilized to carry out ranging, and the position coordinates of the mobile node at m positions are
Figure BDA0002085887600000051
The new location coordinate of the unknown anchor node is (x)jyjzj)TCalculating the position coordinate of the updated anchor node as P by using a least square algorithmj＝(xjyjzj)T。
In the working process of the coal mining machine, the coal mining machine inertia/wireless sensor network combination positioning method comprises the following specific steps:
1) defining coordinate system of coal mining machine body coordinate system ObXbYbZb: origin O of coordinate systembIs fixedly connected at the center of a strapdown inertial navigation device 4, XbThe shaft is directed forward from the shearer 1 to the coal wall, YbAxis perpendicular to XbIn the axial direction, ZbAxis and XbAxis, YbThe axes form a right-hand coordinate system and a front upper right coordinate system;
2) defining a navigation coordinate system OnXnYnZn: North-Tiandong geographic coordinate System, XnThe axis pointing to the geographical north, YnThe axis pointing in the sky direction, ZnThe axis points in the geographic east direction;
3) the navigation coordinate system is superposed with a coordinate system of the coal mining machine body after three times of rotation, and the three times of rotation angles are the heading angle psi, the pitch angle theta and the rolling angle gamma of the coal mining machine 1;
4) the coordinates of the n anchor nodes in the initial position in the navigation coordinate system are
Figure BDA0002085887600000052
Wherein, the superscript i is 1.. and n represents the serial number of the anchor node; the subscript j is 0, 1.. denotes the number of movements of the anchor node, which is incremented by 1 each time it is moved to a new location; all anchor nodes are preset at initial positions, so that
Figure BDA0002085887600000061
The method comprises the following steps of (1) knowing;
the strapdown inertial navigation device receives initial binding information: initial position PI(0)＝[XI(0) YI(0) ZI(0)]TAnd initial attitude
Figure BDA0002085887600000062
Wherein subscript/represents inertial navigation, and X, Y and Z respectively represent north, sky and east positions under a navigation coordinate system; meanwhile, the coal mining machine is in a stop state initially, and the initial speed V is [ 000 ]]T；
5) The RSSI-based wireless sensing ranging method comprises the steps of ranging a mobile node by utilizing an anchor node with a known position, and calculating the position of the mobile node when a signal is transmitted;
the mobile node transmits a wireless signal, an anchor node with a known position on the hydraulic support receives the wireless signal of the mobile node, and the RSSI algorithm is utilized for ranging; the RSSI-based ranging method converts the received signal strength into the distance between a mobile node and an anchor node, and uses a known logarithm-constant wireless signal propagation model:
S＝A-10mlg(d) (1)
wherein, S is signal intensity, d is distance, A is wireless signal intensity received when the distance between the receiving end and the transmitting end is 1m, and m is path loss; a and m are known parameters, and the distance d is calculated according to S;
according to formula (1), the signal strength S received by n anchor nodes with known positionsiN, may be given as di，i＝1，...，n；
6) The position coordinates of n anchor nodes with known positions are (x)iyizi)TThe position coordinate of the mobile node at the time of transmitting the signal is (x)0y0z0)TAccording to the geometrical relationship:
Figure BDA0002085887600000071
the first n-1 equations of the formula (2) are subtracted from the nth equation respectively and are sorted to obtain
Figure BDA0002085887600000072
Then the position coordinate P of the mobile node when transmitting the signal is calculated by using the least square algorithm0＝(x0y0z0)T
Figure BDA0002085887600000073
Wherein
Figure BDA0002085887600000074
Figure BDA0002085887600000075
7) Resolving the position and the attitude of the strapdown inertial navigation device 4:
the strapdown inertial navigation device 4 comprises three gyros and three accelerometers; three gyro measuring coal cutterAngular velocity vector of shaft
Figure BDA0002085887600000076
Three accelerometers for measuring acceleration vectors of coal mining machine in three axial directions
Figure BDA0002085887600000077
The strapdown inertial navigation device 4 firstly updates the angular velocity vector of the body coordinate system of the coal mining machine relative to the navigation coordinate system
Figure BDA0002085887600000081
Figure BDA0002085887600000082
Wherein the content of the first and second substances,
Figure BDA0002085887600000083
the value of the weft is represented by,
Figure BDA0002085887600000084
as an attitude matrix, ωieIs the rotational angular velocity of the earth, R is the radius of the earth, VEAnd VNRepresenting east and north directional speeds;
updating quaternion q ═ q0q1q2q3]T
Wherein the content of the first and second substances,
Figure BDA0002085887600000086
t represents an attitude calculation period;
updating the inertial attitude matrix of the strapdown inertial navigation device 4 relative to the local horizontal geographic coordinate system
Figure BDA0002085887600000087
Figure BDA0002085887600000088
Order to
Figure BDA0002085887600000089
Wherein i, j is 1, 2, 3
According to
Figure BDA00020858876000000810
The inertial attitude angle is calculated as follows:
pitch angle theta sin-1(C12)
Course angle
Figure BDA0002085887600000091
Roll angle
Figure BDA0002085887600000092
By usingThe acceleration vector output by the accelerometer
Figure BDA0002085887600000094
Projected to a local horizontal geographical coordinate system, fn＝[fNfUfE]T，
Updating the speed V of the strapdown inertial navigation device 4 to [ V ]NVUVE]TPosition PI＝[PNPUPE]TAnd longitude λ, latitudeHeight h:
Figure BDA0002085887600000097
Figure BDA0002085887600000099
8) the inertial/wireless sensor network integrated navigation is resolved, and strapdown inertial navigation errors are corrected in real time:
the combined navigation filter state variables are
Figure BDA0002085887600000101
Wherein the position error is Delta PI＝[ΔPNΔPUΔPE]TSpeed error Δ V ═ Δ VNΔVUΔVE]TAttitude error phi is [ [ phi ] ]NφUφE]TTop drift
Figure BDA0002085887600000102
Accelerometer zero offset
Figure BDA0002085887600000103
The combined navigation filtering state equation consists of a velocity error equation, a position error equation and an attitude error equation of strapdown inertial navigation:
the velocity error equation:
Figure BDA0002085887600000104
wherein the content of the first and second substances,
Figure BDA0002085887600000105
Figure BDA0002085887600000106
equation of position error
Equation of attitude error
9) Discretizing and rewriting a speed error equation, a position error equation and an attitude error equation into a combined navigation filtering state equation form, wherein tkRepresenting a filtering time point;
X(tk)＝F(tk-1)X(tk-1)； (14)
10) measurement equation of combined navigation filtering
Y＝HX＝[I3×303×303×303×303×3]X； (15)
11) Calculated quantity measurement
When the mobile node transmits a wireless signal, recording a time interval delta T of strapdown inertial navigation, wherein delta T is less than delta T, and calculating the strapdown inertial navigation position when the mobile node transmits the wireless signal by adopting an interpolation method
Figure BDA0002085887600000111
Figure BDA0002085887600000112
Meanwhile, the position P of the mobile node at the time of transmitting the wireless signal, which is calculated by the formula (3)0And calculating measurement information:
Figure BDA0002085887600000113
12) the known Kalman filtering algorithm is utilized to obtain the estimated value of the integrated navigation filtering state quantity
13) At tkBy using
Figure BDA0002085887600000115
Performing closed-loop point correction on the strapdown inertial navigation error:
PI(tk)＝PI(tk)-ΔP(tk) (18)
V(tk)＝V(tk)-ΔV(tk) (19)
and obtaining a corrected position, speed and attitude matrix. For error corrected
Figure BDA0002085887600000122
As per 12), the inertial attitude angle is recalculated: a pitch angle theta, a course angle psi and a roll angle gamma;
14) and correcting the positioning delay error of the mobile node by using the corrected strapdown inertial navigation speed information V and the positioning delay time tau, and calculating the position P of the mobile node at the combined filtering moment as follows:
P(tk)＝P0+V(tk)τ (21)
15) and (3) positioning the mobile node along with the coal mining machine in real time in the process of running along the track: before the next combined navigation positioning update, namely before the next wireless ranging positioning of the mobile node, the strapdown inertial navigation speed information V is used for assisting in calculating the position of the mobile node, the position data update rate of the mobile node is improved,
P(t)＝P(tk)+V(tk)(t-tk) (22)
wherein t isk≤t＜tk+1；
16) Positioning an unknown anchor node by using the position of the mobile node and the corrected strapdown inertial navigation information;
setting the serial number of an unknown anchor node as j, enabling the unknown anchor node j to move in the direction vertical to the coal wall and stop to a new position, transmitting wireless signals, enabling a mobile node to move along the track direction of a conveyor along with a coal mining machine, receiving the wireless signals at a plurality of positions, and measuring distance by using an RSSI algorithm; the RSSI-based ranging method converts the received signal strength into the distance between a mobile node and an anchor node by using a known logarithm-constant wireless signal propagation model;
signal strength S received by mobile node at m positionsiI 1.. m, the distance between the mobile node and the anchor node with unknown position is di，i＝1，...，m；
17) The position coordinates of the mobile node at m positions are
Figure BDA0002085887600000131
The new location coordinate of the unknown anchor node is (x)jyjzj)TAccording to the geometrical relationship:
Figure BDA0002085887600000132
calculating the position coordinate of the updated anchor node as P by using a least square algorithmj＝(xjyjzj)T。
The invention has the beneficial effects that: the inertial/wireless sensor network combined positioning method for the coal mining machine solves the problems of positioning delay error compensation of the mobile node, updating of the position of the anchor node and correction of strapdown inertial navigation error, realizes high-precision positioning and attitude determination of the coal mining machine, and meets the requirements of automation and remote automatic control of a fully mechanized coal mining face.
Drawings
FIG. 1 is a schematic diagram of a coal mining machine inertial navigation/wireless sensor network combined positioning system.
FIG. 2 is a schematic diagram of a coordinate system of a coal mining machine, a navigation coordinate system, and a posture of the coal mining machine.
Fig. 3 is a flow chart of the positioning work of the coal mining machine inertia/wireless sensor network combination.
Fig. 4 is a timing diagram of positioning information of the coal mining machine inertial/wireless sensor network combination.
In the figure: 1. a coal mining machine; 2. a scraper conveyor; 3. a hydraulic support; 4. a strapdown inertial navigation device; 5. a mobile node; 6. and an anchor node.
Detailed Description
The specific implementation mode of the coal mining machine inertia/wireless sensor network combined positioning method is as follows:
1) defining coordinate system of coal mining machine body coordinate system ObXbYbZb: origin O of coordinate systembIs fixedly connected at the center of a strapdown inertial navigation device 4, XbThe shaft is directed forward from the shearer 1 to the coal wall, YbAxis perpendicular to XbIn the axial direction, ZbAxis and XbAxis, YbThe axes constitute the right hand coordinate system, the front upper right coordinate system, as shown in fig. 2.
2) Defining a navigation coordinate system OnXnYnZn: North-Tiandong geographic coordinate System, XnThe axis pointing to the geographical north, YnThe axis pointing in the sky direction, ZnThe axis points in the geographic east direction as shown in fig. 2.
3) The navigation coordinate system is overlapped with the coordinate system of the coal mining machine body after three rotations, and the three rotation angles are the heading angle psi, the pitch angle theta and the rolling angle gamma of the coal mining machine, as shown in fig. 2.
4) The coordinates of the n anchor nodes in the initial position in the navigation coordinate system are
Figure BDA0002085887600000141
Wherein, the superscript i is 1.. and n represents the serial number of the anchor node; the subscript j is 0, 1.. denotes the number of movements of the anchor node, which is incremented by 1 each time it is moved to a new location; all anchor nodes are preset at initial positions, so that
Figure BDA0002085887600000142
Are known.
The strapdown inertial navigation device receives initial binding information: initial position PI(0)＝[XI(0) YI(0) ZI(0)]TAnd initial attitudeWherein the subscript I represents the inertial navigation,x, Y and Z respectively represent the north, the sky and the east positions under the navigation coordinate system; meanwhile, the coal mining machine is in a stop state initially, and the initial speed V is [ 000 ]]T。
5) The RSSI-based wireless sensing ranging method comprises the steps of ranging a mobile node by utilizing an anchor node with a known position, and calculating the position of the mobile node when a signal is transmitted; the time series of wireless sensor network locations is shown in figure 4.
The mobile node transmits a wireless signal, the anchor node with a known position on the hydraulic support receives the wireless signal of the mobile node, and the RSSI algorithm is utilized to carry out ranging. The RSSI-based ranging method converts the received signal strength into the distance between the mobile node and the anchor node, using a known log-constant wireless signal propagation model:
S＝A-10mlg(d) (1)
wherein, S is signal strength, d is distance, a is wireless signal strength received when the receiving end is 1m from the transmitting end, and m is path loss. A and m are known parameters, and the distance d is calculated according to S.
According to formula (1), the signal strength S received by n anchor nodes with known positionsiN, may be given as di，i＝1，...，n。
6) The position coordinates of n anchor nodes with known positions are (x)iyizi)TThe position coordinate of the mobile node at the time of transmitting the signal is (x)0y0z0)TAccording to the geometrical relationship:
Figure BDA0002085887600000151
the first n-1 equations of the formula (2) are subtracted from the nth equation respectively and are sorted to obtain
Figure BDA0002085887600000152
Then the position coordinate P of the mobile node when transmitting the signal is calculated by using the least square algorithm0＝(x0y0z0)T
Figure BDA0002085887600000161
Wherein
Figure BDA0002085887600000162
Figure BDA0002085887600000163
7) The position and the attitude of the strapdown inertial navigation device are resolved, and the working time sequence is shown in figure 4.
The strapdown inertial navigation device comprises three gyroscopes and three accelerometers, wherein the three gyroscopes are used for measuring angular velocity vectors of three shafts of the coal mining machine
Figure BDA0002085887600000164
Three accelerometers for measuring acceleration vectors of coal mining machine in three axial directions
Figure BDA0002085887600000165
Firstly, the strapdown inertial navigation device updates the angular velocity vector of the body coordinate system of the coal mining machine relative to the navigation coordinate system
Figure BDA0002085887600000166
Figure BDA0002085887600000167
Wherein the content of the first and second substances,the value of the weft is represented by,
Figure BDA0002085887600000169
as an attitude matrix, ωieIs the rotational angular velocity of the earth, R is the radius of the earth, VEAnd VNRepresenting east and north directional speeds;
updatingQuaternion q ═ q0q1q2q3]T
Figure BDA0002085887600000171
Wherein the content of the first and second substances,
Figure BDA0002085887600000172
t represents an attitude calculation period;
updating the inertial attitude matrix of the strapdown inertial navigation device 4 relative to the local horizontal geographic coordinate system
Figure BDA0002085887600000173
Figure BDA0002085887600000174
Order toWherein i, j is 1, 2, 3
According to
Figure BDA0002085887600000176
The inertial attitude angle is calculated as follows:
pitch angle theta sin-1(C12)
Course angle
Figure BDA0002085887600000177
Roll angle
Figure BDA0002085887600000178
By using
Figure BDA0002085887600000179
The acceleration vector output by the accelerometerProjected to a local horizontal geographical coordinate system, fn＝[fNfUfE]T，
Figure BDA00020858876000001711
Updating the speed V of the strapdown inertial navigation device 4 to [ V ]NVUVE]TPosition PI＝[PNPUPE]TAnd longitude λ, latitude
Figure BDA0002085887600000181
Height h:
Figure BDA0002085887600000182
Figure BDA0002085887600000183
Figure BDA0002085887600000184
8) the inertial/wireless sensor network integrated navigation is resolved, strapdown inertial navigation errors are corrected, and the integrated navigation working time sequence is shown in figure 4.
The combined navigation filter state variables areWherein the position error is Delta PI＝[ΔPNΔPUΔPE]TSpeed error Δ V ═ Δ VNΔVUΔVE]TAttitude error phi is [ [ phi ] ]NφUφE]TTop drift
Figure BDA0002085887600000186
Accelerometer zero offset
Figure BDA0002085887600000187
The combined navigation filtering state equation consists of a velocity error equation, a position error equation and an attitude error equation of strapdown inertial navigation:
the velocity error equation:
Figure BDA0002085887600000191
wherein the content of the first and second substances,
Figure BDA0002085887600000192
equation of position error
Figure BDA0002085887600000194
Equation of attitude error
Figure BDA0002085887600000195
9) Discretizing and rewriting a speed error equation, a position error equation and an attitude error equation into a combined navigation filtering state equation form, wherein tkRepresenting the filtering time point.
X(tk)＝F(tk-1)X(tk-1) (14)
10) Measurement equation of combined navigation filtering
Y＝HX＝[I3×303×303×303×303×3]X (15)
11) Calculated quantity measurement
The update rate of the strapdown inertial navigation positioning data is significantly higher than that of the wireless sensor network, as shown in fig. 4, when the mobile node transmits a wireless signal, the strapdown inertial navigation recording time interval Δ T is shorter than Δ T. Calculating the strapdown inertial navigation position when the mobile node transmits a wireless signal by adopting an interpolation method
Figure BDA0002085887600000201
Figure BDA0002085887600000202
Meanwhile, the position P of the mobile node at the time of transmitting the wireless signal, which is calculated by the formula (3)0And calculating measurement information:
Figure BDA0002085887600000203
12) the known Kalman filtering algorithm is utilized to obtain the estimated value of the integrated navigation filtering state quantity
Figure BDA0002085887600000204
13) At tkBy using
Figure BDA0002085887600000205
Performing closed-loop point correction on the strapdown inertial navigation error:
PI(tk)＝PI(tk)-ΔP(tk) (18)
V(tk)＝V(tk)-ΔV(tk) (19)
Figure BDA0002085887600000206
and obtaining a corrected position, speed and attitude matrix. For error corrected
Figure BDA0002085887600000207
As per 12), the inertial attitude angle is recalculated: pitch angle θ, heading angle ψ, and roll angle γ.
14) Because the mobile node runs along the track of the coal mining machine and a certain time is needed for wireless ranging and positioning, the position of the mobile node when the mobile node transmits signals is different from the position of the mobile node when combined filtering is carried out, and the positioning delay error of the mobile node needs to be corrected. According to the characteristic of high short-term precision of strapdown inertial navigation, the positioning delay error of the mobile node is corrected by using the corrected strapdown inertial navigation speed information V and the positioning delay time tau, and as shown in FIG. 4, the position P of the mobile node at the time of combined filtering is calculated as follows:
P(tk)＝P0+V(tk)τ (21)
15) and the mobile node is positioned along with the coal mining machine in real time in the process of running along the track. As shown in fig. 4, before the next combined navigation positioning update, i.e. before the next wireless ranging positioning of the mobile node, the strapdown inertial navigation speed information V is used to assist in calculating the position of the mobile node, so as to improve the update rate of the position data of the mobile node,
P(t)＝P(tk)+V(tk)(t-tk) (22)
wherein t isk≤t＜tk+1；
16) And positioning the unknown anchor node by using the position of the mobile node and the corrected strapdown inertial navigation information.
Let the unknown anchor node sequence number be j. The unknown anchor node j moves in the direction vertical to the coal wall and stops to a new position, wireless signals are transmitted, the mobile node moves along the track direction of the conveyor along with the coal mining machine, the wireless signals are received at a plurality of positions, and the RSSI algorithm is used for ranging; the RSSI-based ranging method converts the received signal strength into the distance between the mobile node and the anchor node by using a known logarithm-constant wireless signal propagation model shown in formula (1);
signal strength S received by mobile node at m positionsiI 1.. m, the distance between the mobile node and the anchor node with unknown position is di，i＝1，...，m。
17) The position coordinates of the mobile node of the m positions are calculated according to the formula (22)
Figure BDA0002085887600000211
The new location coordinate of the unknown anchor node is (x)jyjzj)TAccording to the geometrical relationship:
similar to the first step, calculating the position coordinate of the updated anchor node as P by using a least square algorithmj＝(xjyzj)T。
The invention has the beneficial effects that: the method solves the problems of mobile node positioning delay error compensation, anchor node position updating and strapdown inertial navigation error correction, realizes high-precision positioning and attitude determination of the coal mining machine, and meets the requirements of automation and remote automatic control of a fully mechanized mining face.
A coal mining machine inertia/wireless sensor network combination positioning method is characterized in that a strapdown inertial navigation device and a wireless sensor network mobile node are installed on a coal mining machine; n (not less than 4) wireless sensor network anchor nodes are installed under the hydraulic support, all the anchor nodes are deployed in advance, and the initial positions of the anchor nodes are known. Both the mobile node and the anchor node may transmit and receive wireless signals.
Along with the movement of a cut coal wall of the coal mining machine, a mobile node on the coal mining machine transmits a wireless signal in real time, and simultaneously transmits a synchronous signal to the strapdown inertial navigation device, an anchor node with a known position on the hydraulic support receives the wireless signal of the mobile node, and the RSSI algorithm is utilized for distance measurement and position calculation. The strapdown inertial navigation device measures the angular velocity and acceleration information of the coal mining machine in real time, and navigation resolving is carried out by utilizing a strapdown navigation algorithm; and the strapdown inertial navigation device records position information before and after the arrival time of the synchronous signal, performs data fusion with the anchor node positioning result, corrects the mobile node positioning delay error and the strapdown inertial navigation error, and obtains accurate position and attitude information of the coal mining machine.
Meanwhile, as the shearer cuts the coal wall, the hydraulic support moves along the direction perpendicular to the coal wall, and each anchor node moves along with the hydraulic support in the direction perpendicular to the coal wall and stops to a new position (hereinafter referred to as an unknown anchor node because the position of the anchor node is unknown). After the anchor node stops at a new location, the anchor node needs to be located. The unknown anchor node transmits a wireless signal, a mobile node on the coal mining machine receives the wireless signal of the unknown anchor node, the RSSI algorithm is used for ranging, the mobile node ranges the unknown anchor node at m positions (not less than 4) along with the movement of the coal mining machine, and the location of the unknown anchor node is completed by combining strapdown inertial navigation position information.

Claims (2)

1. A coal mining machine inertia/wireless sensor network combined positioning method is characterized in that:
step one, a wireless sensing distance measurement method based on RSSI uses a known logarithm-constant wireless signal propagation model, and the received signal strength is converted into the distance between a mobile node and an anchor node; according to anchor node coordinates with known positions, a least square algorithm is utilizedCalculating position coordinates P of a mobile node when transmitting a signal0＝(x0y0z0)T(ii) a Wherein: wherein, S is signal intensity, d is distance, A is wireless signal intensity received when the distance between the receiving end and the transmitting end is 1m, and m is path loss; a and m are known parameters, and the distance d is calculated according to S;
step two, measuring information by using a gyroscope and an accelerometer, resolving a pitch angle theta, a course angle psi and a rolling angle gamma of the strapdown inertial navigation device, and calculating the speed V of the strapdown inertial navigation device as [ V [ [ V ]NVUVE]TPosition PI＝[PNPUPE]TAnd longitude λ, latitude
Figure RE-FDA0002309155120000015
A height h;
thirdly, performing inertial/wireless sensor network integrated navigation calculation by using the information in the first step and the second step; the combined navigation filter state variables are
Figure RE-FDA0002309155120000012
Wherein the position error is Delta PI＝[ΔPNΔPUΔPE]TSpeed error Δ V ═ Δ VNΔVUΔVE]TAttitude error phi is [ [ phi ] ]NφUφE]TTop driftAccelerometer zero offsetThe combined navigation filtering state equation consists of a speed error equation, a position error equation and an attitude error equation of strapdown inertial navigation, and the combined navigation filtering measurement equation is Y-HX-I3×303×303×303×303×3]X；
The interpolation method is adopted to solve the problem that the wireless sensor network and the strapdown inertial navigation positioning information are asynchronous, and the strapdown inertial navigation position is calculated when the mobile node transmits a wireless signal
Figure RE-FDA0002309155120000021
Calculating the measurement information Y ═ PI c-P0Obtaining the estimated value of the combined navigation filtering state quantity by utilizing the known Kalman filtering algorithm
Figure RE-FDA0002309155120000022
By using
Figure RE-FDA0002309155120000023
Correcting the position, speed and attitude error of the strapdown inertial navigation;
step four, according to the characteristic of high short-term precision of strapdown inertial navigation, correcting the positioning delay error of the mobile node by using the corrected strapdown inertial navigation speed information V and the positioning delay time tau, and calculating the position P (t) of the mobile node at the moment of combined filteringk)＝P0+V(tk)τ；
Step five, the mobile nodes are positioned in real time along with the coal mining machine in the process of running along the track and are combined at the next timeBefore navigation updating, namely before the next wireless ranging positioning of the mobile node, utilizing the strapdown inertial navigation speed information V to assist in calculating the position P (t) ═ P (t) of the mobile nodek)+V(tk)(t-tk)；
Sixthly, after the anchor node changes position along with the movement of the hydraulic support, the anchor node is positioned by utilizing the position of the mobile node and the corrected strapdown inertial navigation information, the unknown anchor node moves to a new position and transmits wireless signals, the mobile node moves along the track direction of the conveyor along with the coal mining machine, the wireless signals are received at a plurality of positions, the RSSI algorithm is utilized to carry out ranging, and the position coordinates of the mobile node at m positions are
Figure RE-FDA0002309155120000024
The new location coordinate of the unknown anchor node is (x)jyjzj)TCalculating the position coordinate of the updated anchor node as P by using a least square algorithmj＝(xjyjzj)T。
2. The coal mining machine inertia/wireless sensor network combined positioning method according to claim 1, characterized in that: the method comprises the following specific steps:
1) defining coordinate system of coal mining machine body coordinate system ObXbYbZb: origin O of coordinate systembIs fixedly connected at the center of a strapdown inertial navigation device (4) by an XbThe shaft is directed to the coal wall from the coal mining machine (1) in the forward direction, YbAxis perpendicular to XbIn the axial direction, ZbAxis and XbAxis, YbThe axes form a right-hand coordinate system and a front upper right coordinate system;
2) defining a navigation coordinate system OnXnYnZn: North-Tiandong geographic coordinate System, XnThe axis pointing to the geographical north, YnThe axis pointing in the sky direction, ZnThe axis points in the geographic east direction;
3) the navigation coordinate system is superposed with a coordinate system of the coal mining machine body after three times of rotation, and the three times of rotation angles are the heading angle psi, the pitch angle theta and the rolling angle gamma of the coal mining machine (1);
4) the coordinates of the n anchor nodes in the initial position in the navigation coordinate system are
Figure RE-FDA0002309155120000031
Wherein, the superscript i is 1.. and n represents the serial number of the anchor node; the subscript j is 0, 1.. denotes the number of movements of the anchor node, which is incremented by 1 each time it is moved to a new location; all anchor nodes are preset at initial positions, so that
Figure RE-FDA0002309155120000032
The method comprises the following steps of (1) knowing;
the strapdown inertial navigation device receives initial binding information: initial position
PI(0)＝[XI(0) YI(0) ZI(0)]TAnd initial attitude
Figure RE-FDA0002309155120000033
Wherein subscript I represents inertial navigation, and X, Y and Z respectively represent north, sky and east positions under a navigation coordinate system; meanwhile, the coal mining machine is in a stop state initially, and the initial speed V is [ 000 ]]T；
5) The RSSI-based wireless sensing ranging method comprises the steps of ranging a mobile node by utilizing an anchor node with a known position, and calculating the position of the mobile node when a signal is transmitted;
the mobile node transmits a wireless signal, an anchor node with a known position on the hydraulic support receives the wireless signal of the mobile node, and the RSSI algorithm is utilized for ranging; the RSSI-based ranging method converts the received signal strength into the distance between a mobile node and an anchor node, and uses a known logarithm-constant wireless signal propagation model:
S＝A-10mlg(d) (1)
wherein, S is signal intensity, d is distance, A is wireless signal intensity received when the distance between the receiving end and the transmitting end is 1m, and m is path loss; a and m are known parameters, and the distance d is calculated according to S;
according to formula (1), the signal strength S received by n anchor nodes with known positionsi，i＝1, 1., n, available as di，i＝1，...，n；
6) The position coordinates of n anchor nodes with known positions are (x)iyizi)TThe position coordinate of the mobile node at the time of transmitting the signal is (x)0y0z0)TAccording to the geometrical relationship:
Figure RE-FDA0002309155120000041
the first n-1 equations of the formula (2) are subtracted from the nth equation respectively and are sorted to obtain
Figure RE-FDA0002309155120000042
Then the position coordinate P of the mobile node when transmitting the signal is calculated by using the least square algorithm0＝(x0y0z0)T
Figure RE-FDA0002309155120000043
Wherein
Figure RE-FDA0002309155120000051
Figure RE-FDA0002309155120000052
7) Resolving the position and the attitude of the strapdown inertial navigation device 4:
the strapdown inertial navigation device 4 comprises three gyros and three accelerometers; three gyroscopic measurements of angular velocity vectors of three axes of a coal mining machine
Figure RE-FDA0002309155120000053
Three accelerometers for measuring acceleration vectors of coal mining machine in three axial directions
Figure RE-FDA0002309155120000054
The strapdown inertial navigation device 4 firstly updates the angular velocity vector of the body coordinate system of the coal mining machine relative to the navigation coordinate system
Figure RE-FDA0002309155120000055
Figure RE-FDA0002309155120000056
Wherein the content of the first and second substances,
Figure RE-FDA0002309155120000057
the value of the weft is represented by,
Figure RE-FDA0002309155120000058
as an attitude matrix, ωieIs the rotational angular velocity of the earth, R is the radius of the earth, VEAnd VNRepresenting east and north directional speeds;
updating quaternion q ═ q0q1q2q3]T
Figure RE-FDA0002309155120000059
Wherein the content of the first and second substances,t represents an attitude calculation period;
updating the inertial attitude matrix of the strapdown inertial navigation device 4 relative to the local horizontal geographic coordinate system
Figure RE-FDA0002309155120000062
Order to
Figure RE-FDA0002309155120000064
Wherein i, j is 1, 2, 3
According to
Figure RE-FDA0002309155120000065
The inertial attitude angle is calculated as follows:
pitch angle theta sin-1(C12)
Course angle
Figure RE-FDA0002309155120000066
Roll angle
Figure RE-FDA0002309155120000067
By using
Figure RE-FDA0002309155120000068
The acceleration vector output by the accelerometer
Figure RE-FDA0002309155120000069
Projected to a local horizontal geographical coordinate system, fn＝[fNfUfE]T，
Figure RE-FDA00023091551200000610
Updating the speed V of the strapdown inertial navigation device 4 to [ V ]NVUVE]TPosition PI＝[PNPUPE]TAnd longitude λ, latitude
Figure RE-FDA00023091551200000611
Height h:
Figure RE-FDA0002309155120000072
Figure RE-FDA0002309155120000073
8) the inertial/wireless sensor network integrated navigation is resolved, and strapdown inertial navigation errors are corrected in real time:
the combined navigation filter state variables are
Figure RE-FDA0002309155120000074
Wherein the position error is Delta PI＝[ΔPNΔPUΔPE]TSpeed error Δ V ═ Δ VNΔVUΔVE]TAttitude error phi is [ [ phi ] ]NφUφE]TTop drift
Figure RE-FDA0002309155120000075
Accelerometer zero offset
Figure RE-FDA0002309155120000076
The combined navigation filtering state equation consists of a velocity error equation, a position error equation and an attitude error equation of strapdown inertial navigation:
the velocity error equation:
Figure RE-FDA0002309155120000077
wherein the content of the first and second substances,
Figure RE-FDA0002309155120000081
Figure RE-FDA0002309155120000082
equation of position error
Figure RE-FDA0002309155120000083
Equation of attitude error
9) Discretizing and rewriting a speed error equation, a position error equation and an attitude error equation into a combined navigation filtering state equation form, wherein tkRepresenting a filtering time point;
X(tk)＝F(tk-1)X(tk-1)； (14)
10) measurement equation of combined navigation filtering
Y＝HX＝[I3×303×303×303×303×3]X； (15)
11) Calculated quantity measurement
When the mobile node transmits a wireless signal, recording a time interval delta T of strapdown inertial navigation, wherein delta T is less than delta T, and calculating a strapdown inertial navigation position P when the mobile node transmits the wireless signal by adopting an interpolation methodI c，
Figure RE-FDA0002309155120000085
Meanwhile, the measurement information is calculated by using the position P0 of the mobile node when transmitting the wireless signal, which is calculated by the formula (3):
Y＝PI c-P0； (17)
12) the known Kalman filtering algorithm is utilized to obtain the estimated value of the integrated navigation filtering state quantity
Figure RE-FDA0002309155120000091
13) At tkBy using
Figure RE-FDA0002309155120000092
Performing closed-loop point correction on the strapdown inertial navigation error:
PI(tk)＝PI(tk)-ΔP(tk) (18)
V(tk)＝V(tk)-ΔV(tk) (19)
Figure RE-FDA0002309155120000093
and obtaining a corrected position, speed and attitude matrix. For error correctedAs per 12), the inertial attitude angle is recalculated: a pitch angle theta, a course angle psi and a roll angle gamma;
14) and correcting the positioning delay error of the mobile node by using the corrected strapdown inertial navigation speed information V and the positioning delay time tau, and calculating the position P of the mobile node at the combined filtering moment as follows:
P(tk)＝P0+V(tk)τ (21)
15) and (3) positioning the mobile node along with the coal mining machine in real time in the process of running along the track: before the next combined navigation positioning update, namely before the next wireless ranging positioning of the mobile node, the strapdown inertial navigation speed information V is used for assisting in calculating the position of the mobile node, the position data update rate of the mobile node is improved,
P(t)＝P(tk)+V(tk)(t-tk) (22)
wherein t isk≤t＜tk+1；
16) Positioning an unknown anchor node by using the position of the mobile node and the corrected strapdown inertial navigation information;
setting the serial number of an unknown anchor node as j, enabling the unknown anchor node j to move in the direction vertical to the coal wall and stop to a new position, transmitting wireless signals, enabling a mobile node to move along the track direction of a conveyor along with a coal mining machine, receiving the wireless signals at a plurality of positions, and measuring distance by using an RSSI algorithm; the RSSI-based ranging method converts the received signal strength into the distance between a mobile node and an anchor node by using a known logarithm-constant wireless signal propagation model;
signal strength S received by mobile node at m positionsiI 1.. m, the distance between the mobile node and the anchor node with unknown position is di，i＝1，...，m；
17) The position coordinates of the mobile node at m positions areThe new location coordinate of the unknown anchor node is (x)jyjzj)TAccording to the geometrical relationship:
Figure RE-FDA0002309155120000102
calculating the position coordinate of the updated anchor node as P by using a least square algorithmj＝(xjyjzj)T。
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