CN113938825B - Bluetooth AOA-based fully mechanized coal mining face coal mining machine positioning method and system - Google Patents

Bluetooth AOA-based fully mechanized coal mining face coal mining machine positioning method and system Download PDF

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CN113938825B
CN113938825B CN202111203290.6A CN202111203290A CN113938825B CN 113938825 B CN113938825 B CN 113938825B CN 202111203290 A CN202111203290 A CN 202111203290A CN 113938825 B CN113938825 B CN 113938825B
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coal mining
aoa
bluetooth
mining machine
real
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CN113938825A (en
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宋单阳
宋建成
杨金衡
卢春贵
郑文强
王培恩
田慕琴
许春雨
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Taiyuan University of Technology
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • 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
    • G01C21/165—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 combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • 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
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a method and a system for positioning a fully-mechanized coal mining face coal mining machine based on Bluetooth AOA, which are applied to the technical field of positioning of underground fully-mechanized coal mining face coal mining machines and comprise the following steps: a data acquisition step, a data processing step, a real-time coordinate calculation step and a real-time coordinate output step. The positioning method and the system provided by the invention can solve the problem of inertial navigation positioning accumulated error, reduce the measurement error of the Bluetooth AOA positioning system, and have high positioning precision and strong real-time performance.

Description

Bluetooth AOA-based fully mechanized coal mining face coal mining machine positioning method and system
Technical Field
The invention relates to the technical field of positioning of underground fully-mechanized coal face coal mining machines, in particular to a method and a system for positioning a fully-mechanized coal face coal mining machine based on Bluetooth AOA.
Background
The high-efficiency, green and automatic mining is the development direction of the coal industry in China, and the accurate positioning of the coal mining machine is one of key technologies for realizing automatic mining of the fully-mechanized mining working face, so that the accurate position of the coal mining machine can be provided for memory cutting and working face straightening, and a reference basis can be provided for three-machine linkage and automatic mining of the working face. Therefore, the development of the high-precision positioning method of the fully-mechanized coal mining face coal mining machine has very important practical significance.
The existing wireless signal-based coal mining machine positioning technologies have the defects of infrared rays, ultrasonic waves, UWB and the like, however, the wireless positioning technologies have the defects of low positioning dimension or small positioning range. Publication number CN111426315A discloses a coal cutter positioning device based on infrared and encoder, the position of the coal cutter is determined by the number of traveling turns of the coal cutter output by the encoder and the position of the corresponding hydraulic support which receives the infrared signal, but the device can only meet the positioning requirement in one-dimensional space. Publication number CN109931958B discloses an end calibration device and method for "one-tool one-calibration" of coal mining machine by UWB technology. The UWB base station moving along the crossheading roadway is used for calibrating the positioning result of the coal cutter moving to the position near the end head, so that the accumulated error of inertial navigation positioning is reduced, but the UWB base station cannot position the coal cutter in the cutting process of the coal cutter, and the positioning instantaneity is weak. The publication number CN112360457A discloses a coal cutter positioning method based on the principle of triangular coal cutting, a displacement measuring module is used for measuring the displacement of the coal cutter on an X axis and a Y axis, then the Z-direction coordinate value of the coal cutter is estimated through UWB positioning labels arranged at the end head and the end tail, and finally the real-time three-dimensional coordinate of the coal cutter is obtained. However, there is a large coordinate error, which causes inaccurate positioning results. In summary, the above technologies have some disadvantages, and the positioning error is larger, so that the requirement of accurate positioning of the coal mining machine in the three-dimensional space cannot be met.
Therefore, a method and a system for positioning a coal cutter based on bluetooth AOA are provided to solve the above technical problems, which are needed to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a coal cutter positioning method and a system based on Bluetooth AOA, which solve the technical problems of large accumulated error, small positioning dimension and low positioning precision of the existing positioning method of the coal cutter.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a positioning method of a fully mechanized coal mining face coal mining machine based on Bluetooth AOA comprises the following steps:
A data acquisition step: acquiring an attitude angle and acceleration of an inertial navigation device, and measuring a first position coordinate of the coal cutter in a space triaxial direction by a Bluetooth AOA positioning system in the cutting process of the coal cutter;
And a data processing step: the attitude angle and the acceleration are calculated to obtain a second position coordinate of the coal mining machine in the three-axis direction of space, and the first position coordinate of the coal mining machine in the three-axis direction of space and the second position coordinate of the coal mining machine in the three-axis direction of space are input into a Kalman filter;
and calculating real-time coordinates: the first position coordinate of the coal mining machine in the three-axis direction of space is used as the observed quantity of the Kalman filter, the second position coordinate of the coal mining machine in the three-axis direction of space is used as the state quantity of the Kalman filter, and the observed quantity and the state quantity are input into the Kalman filter to obtain the real-time coordinate of the coal mining machine.
Optionally, the method further comprises the step of outputting real-time coordinates: and outputting the real-time coordinates of the coal mining machine obtained by the Kalman filter.
Optionally, in the step of obtaining data, the bluetooth AOA positioning system includes: a Bluetooth AOA master base station, a Bluetooth AOA slave base station and a Bluetooth AOA tag; the Bluetooth AOA main base station is arranged on an advanced hydraulic support of an air inlet roadway and an air return roadway, the Bluetooth AOA slave base station is arranged on a working face hydraulic support, and the Bluetooth AOA tag is arranged on a machine body of the coal mining machine;
the inertial navigation device is arranged on the coal mining machine body.
Optionally, the method further comprises a data updating step after the real-time coordinate outputting step, wherein the specific content is as follows: and after the hydraulic support of the working face of the Bluetooth AOA slave base station completes the pulling frame action, updating the three-dimensional coordinates of the Bluetooth AOA slave base station after moving in real time, and transmitting the updated coordinate data to the data acquisition step.
Optionally, in the process of cutting a coal by the coal cutter, repeating the data acquisition step to the data updating step.
Optionally, in the step of calculating the real-time coordinates, a method for establishing a state equation of the kalman filter is as follows:
The second position coordinate of the coal mining machine in the three-axis direction of the space is (X INS,YINS,ZINS), and a state equation is established by taking S k＝[XINSYINS ZINS]T as a state quantity, wherein the state equation is as follows:
wherein k represents the current time; a (k) is a third-order identity matrix; for three-axis attitude angles psi, theta,/> A formed gesture conversion matrix; v x、vy、vz is the triaxial speed at the previous moment; a x、ay、az is the triaxial acceleration at the current moment; t is the sampling period of the inertial navigation device; w k is the process noise.
Optionally, in the step of calculating the real-time coordinates, the method for establishing the observation equation of the kalman filter is as follows:
The first position coordinate of the coal mining machine in the three-axis direction of the space is (X AOA,YAOA,ZAOA), an observation equation is established by taking Z k＝[XAOAYAOA ZAOA]T as an observed quantity, and the observation equation is as follows:
Zk＝HSk+rk
Where H is the identity matrix and r k is the process noise.
A fully mechanized coal mining face coal mining machine positioning system based on Bluetooth AOA comprises: the system comprises a data acquisition module, a data processing module, a Kalman filter and a real-time coordinate output module which are sequentially connected;
The data acquisition module is used for acquiring the attitude angle and the acceleration of the inertial navigation device and a first position coordinate of the coal cutter in the three-axis direction measured by the Bluetooth AOA positioning system in the cutting process of the coal cutter;
the data processing module is used for obtaining a second position coordinate of the coal mining machine in the three-axis direction of space through calculation of the attitude angle and the acceleration, and inputting a first position coordinate of the coal mining machine in the three-axis direction of space and a second position coordinate of the coal mining machine in the three-axis direction of space into a Kalman filter;
The Kalman filter: the first position coordinate of the coal mining machine in the three-axis direction of space is used as the observed quantity of the Kalman filter, the second position coordinate of the coal mining machine in the three-axis direction of space is used as the state quantity of the Kalman filter, and the observed quantity and the state quantity are input into the Kalman filter to obtain the real-time coordinate of the coal mining machine.
Optionally, the system further comprises a real-time coordinate output module connected with the input end of the data acquisition module: and the real-time coordinates of the coal mining machine obtained by the Kalman filter are output.
Optionally, the system further comprises a data updating module, wherein the data updating module is used for updating the coordinates of the Bluetooth AOA positioning system in real time after the hydraulic support pulling action of the working face is completed.
Compared with the prior art, the invention provides the coal cutter positioning method and system based on Bluetooth AOA: the Bluetooth AOA main base station is arranged in the air inlet and air return tunnels, and the Bluetooth AOA slave base station is arranged on the hydraulic support, so that three-dimensional positioning can be performed in the whole movement process of the coal mining machine; by establishing a Kalman filtering model and fusing the results of inertial navigation positioning and Bluetooth AOA positioning, the positioning result of the inertial navigation positioning device can be calibrated in the whole process, and the defect of inaccurate positioning result caused by accumulation of inertial navigation positioning errors is overcome; after the Bluetooth AOA slave base station moves along with the hydraulic support, the position of the base station on the left side and the right side can be accurately calculated again according to the position of the base station on the right side, so that the error of a Bluetooth AOA positioning system is reduced, the positioning precision of the coal mining machine is improved, the operation is convenient, and the instantaneity is strong.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a coal cutter positioning method based on Bluetooth AOA;
FIG. 2 is a schematic diagram of the positioning of the fully mechanized coal mining face of the present invention;
FIG. 3 is a schematic diagram of the positioning of the coal mining machine based on Bluetooth AOA of the present invention;
FIG. 4 is a schematic diagram of a positioning system of a coal mining machine based on Bluetooth AOA;
the system comprises an inertial navigation device-1, a Bluetooth AOA positioning system-2, a Bluetooth AOA master base station-21, a Bluetooth AOA slave base station-22, a Bluetooth AOA tag-23, a coal cutter-3 and a working face hydraulic support-4.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the invention discloses a method for positioning a fully mechanized coal mining face coal mining machine based on Bluetooth AOA, which comprises the following steps:
A data acquisition step: acquiring an attitude angle and acceleration of the inertial navigation device 1 and a first position coordinate of the coal cutter 3 in the three-axis direction of space, which is measured by the Bluetooth AOA positioning system 2 in the cutting process of the coal cutter 3;
And a data processing step: the attitude angle and the acceleration are calculated to obtain a second position coordinate of the coal cutter 3 in the three-axis direction of space, and the first position coordinate of the coal cutter 3 in the three-axis direction of space and the second position coordinate of the coal cutter 3 in the three-axis direction of space are input into a Kalman filter;
and calculating real-time coordinates: taking a first position coordinate of the coal cutter 3 in the three-axis direction of space as an observed quantity of the Kalman filter, taking a second position coordinate of the coal cutter 3 in the three-axis direction of space as a state quantity of the Kalman filter, and inputting the observed quantity and the state quantity into the Kalman filter to obtain real-time coordinates of the coal cutter 3;
in a specific embodiment, the method further comprises a real-time coordinate output step after the coordinate calculation step: and the real-time coordinates of the coal cutter 3 obtained by the Kalman filter are output.
In a specific embodiment, referring to fig. 2, in the data acquisition step, the bluetooth AOA positioning system 2 comprises: a bluetooth AOA master base station 21, a bluetooth AOA slave base station 22, and a bluetooth AOA tag (23); the Bluetooth AOA main base station 21 is arranged on advanced hydraulic supports of an air inlet roadway and an air return roadway, the Bluetooth AOA slave base station 22 is arranged on the working face hydraulic support 4, and the Bluetooth AOA tag 23 is arranged on the body of the coal mining machine 3; the inertial navigation device 1 is mounted on the shearer 3 body.
Based on the illustration in fig. 2, in the air intake and return tunnel, a bluetooth AOA main base station 21 is installed every 3 advance brackets, a bluetooth AOA auxiliary base station 22 is installed every 10 working face hydraulic brackets 4, and the installation height of the bluetooth AOA main base station 21 should be at least 1 meter away from the fully mechanized mining face bottom plate.
In a specific embodiment, the method further comprises a data updating step after the real-time coordinate outputting step, wherein the specific contents are as follows: after the hydraulic support 4 of the working face of the slave base station 22 is pulled to finish the action according to the Bluetooth AOA, the three-dimensional coordinates of the mobile Bluetooth AOA slave base station 22 are updated in real time, and the updated coordinate data are transmitted to the data acquisition step.
In one embodiment, the data acquisition step-the data update step are repeated during the coal cutting process of the shearer 3.
In one particular embodiment, referring to FIG. 3, a schematic diagram of a shearer positioning based on Bluetooth AOA is disclosed; in the step of calculating the real-time coordinates, the method for establishing the state equation of the Kalman filter is as follows:
The second position coordinate of the coal cutter 3 in the three-axis direction of the space is (X INS,YINS,ZINS), and a state equation is established by taking S k＝[XINS YINSZINS]T as a state quantity, wherein the state equation is as follows:
wherein k represents the current time; a (k) is a third-order identity matrix; for three-axis attitude angles psi, theta,/> A formed gesture conversion matrix; v x、vy、vz is the triaxial speed at the previous moment; a x、ay、az is the triaxial acceleration at the current moment; t is the sampling period of the inertial navigation device; w k is the process noise.
The method for establishing the observation equation of the Kalman filter is as follows:
The first position coordinate of the coal cutter 3 in the three-axis direction of the space is (X AOA,YAOA,ZAOA), and an observation equation is established by taking Z k＝[XAOA YAOAZAOA]T as an observed quantity, wherein the observation equation is as follows:
Zk＝HSk+rk
Where H is the identity matrix and r k is the process noise.
In a specific embodiment, the method for measuring the position coordinates of the coal mining machine 3 in the three spatial axes by the Bluetooth AOA positioning system 2 is as follows: establishing a three-dimensional coordinate system according to a coal seam geographic information system, determining the three-dimensional coordinate of a Bluetooth AOA master base station 21 by using a total station type electronic range finder, and calculating by the Bluetooth AOA master base station 21 to obtain the three-dimensional coordinate of a Bluetooth AOA slave base station 22; the Bluetooth AOA near the coal cutter 3 automatically forms a distributed network with the Bluetooth AOA tag 23 from the base station 22, the Bluetooth AOA tag 23 transmits wireless signals from the base station 22, the Bluetooth AOA tag 23 selects the Bluetooth AOA with the highest signal intensity value from the base station 22 through judging the received signal intensity, and the Bluetooth AOA with the highest signal intensity value calculates the position coordinates of the Bluetooth AOA tag 23 in the three-axis direction of space from the base station 22 to obtain the position of the coal cutter 3.
Further, for the installation position of the bluetooth AOA from the base station 22 in the positioning method, a method for measuring and calculating the three-dimensional coordinate of the bluetooth AOA from the base station 22 is designed, as follows: defining the Bluetooth AOA slave base station 22 closest to the air inlet roadway as a No. 1 slave base station, and sequentially sequencing, wherein the Bluetooth AOA slave base station 22 closest to the air return roadway is a No. i slave base station; the three-dimensional coordinates of the No. 1 Bluetooth AOA slave base station 22 are measured and calculated by the Bluetooth AOA master base station 21 of the air inlet roadway, the three-dimensional coordinates of the No. 2 Bluetooth AOA slave base station 22 are measured and calculated by the No. 1 Bluetooth AOA slave base station 22, and the like, so that the three-dimensional coordinates of the No. 2 Bluetooth AOA slave base station 22 are always measured and calculated(I is an odd number)///>(I is an even number) the three-dimensional coordinates of the bluetooth AOA slave base station 22; the three-dimensional coordinates of the i-number Bluetooth AOA slave base station 22 are calculated by the Bluetooth AOA master base station 21 of the return tunnel, the three-dimensional coordinates of the i-1-number Bluetooth AOA slave base station 22 are calculated by the i-number Bluetooth AOA slave base station 22, and the like, so that/>(I is an odd number)///>(I is an even number) the three-dimensional coordinates of the bluetooth AOA slave base station 22, thereby determining the three-dimensional coordinates of all bluetooth AOA slave base stations 22.
In a specific embodiment, firstly, calculating an attitude transformation matrix at the current moment by using an attitude angle, integrating acceleration to obtain a displacement increment of the coal mining machine on a carrier system in a sampling period, multiplying the displacement increment on the carrier system by the attitude transformation matrix to obtain a displacement increment of the coal mining machine 3 on a navigation system in the sampling period, and adding the displacement increment on the navigation system to a second position coordinate of the coal mining machine 3 in the three-axis direction in space at the previous moment to obtain the second position coordinate of the coal mining machine 3 in the three-axis direction in space at the current moment.
Referring to fig. 4, the invention also discloses a coal cutter positioning system based on bluetooth AOA, which comprises: the system comprises a data acquisition module, a data processing module, a Kalman filter and a real-time coordinate output module which are sequentially connected;
The data acquisition module is used for acquiring the attitude angle and the acceleration of the inertial navigation device 1 and the first position coordinate of the coal cutter 3 in the three-axis direction of the space, which is measured by the Bluetooth AOA positioning system 2 in the cutting process of the coal cutter 3;
The data processing module is used for obtaining a second position coordinate of the coal cutter 3 in the three-axis direction of space through calculation of the attitude angle and the acceleration, and inputting a first position coordinate of the coal cutter 3 in the three-axis direction of space and a second position coordinate of the coal cutter 3 in the three-axis direction of space into the Kalman filter;
Kalman filter: the first position coordinate of the coal cutter 3 in the three-axis direction of the space is used as the observed quantity of the Kalman filter, the second position coordinate of the coal cutter 3 in the three-axis direction of the space is used as the state quantity of the Kalman filter, and the observed quantity and the state quantity are input into the Kalman filter to obtain the real-time coordinate of the coal cutter 3.
In a specific embodiment, the system further comprises a real-time coordinate output module connected with the input end of the data acquisition module: and the real-time coordinates of the coal cutter 3 obtained by the Kalman filter are output.
In a specific embodiment, the system further comprises a data updating module, which is used for updating the coordinates of the bluetooth AOA positioning system 2 in real time after the completion of the pulling action of the hydraulic support 4 of the working face. Specifically, the three-dimensional coordinates of the bluetooth AOA slave station 22.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. A positioning method of a fully mechanized coal mining face coal mining machine based on Bluetooth AOA is characterized by comprising the following steps:
A data acquisition step: acquiring an attitude angle and acceleration of an inertial navigation device (1) and a first position coordinate of a coal cutter (3) in a space triaxial direction, which is measured by a Bluetooth AOA positioning system (2) in a cutting process of the coal cutter (3);
And a data processing step: the attitude angle and the acceleration are calculated to obtain a second position coordinate of the coal mining machine (3) in the three-axis direction, and the first position coordinate of the coal mining machine (3) in the three-axis direction and the second position coordinate of the coal mining machine (3) in the three-axis direction are input into a Kalman filter;
And calculating real-time coordinates: the first position coordinate of the coal mining machine (3) in the three-axis direction of space is used as the observed quantity of the Kalman filter, the second position coordinate of the coal mining machine (3) in the three-axis direction of space is used as the state quantity of the Kalman filter, and the observed quantity and the state quantity are input into the Kalman filter to obtain the real-time coordinate of the coal mining machine (3);
In the real-time coordinate calculation step, the state equation establishment method of the Kalman filter is as follows:
And a second position coordinate of the coal cutter (3) in the three-axis direction of the space is X INS,YINS,ZINS, and a state equation is established by taking S k＝XINSYINSZINS T as a state quantity, wherein the state equation is as follows:
Wherein k represents the current time; ak is a third-order identity matrix; for three-axis attitude angles psi, theta,/> A formed gesture conversion matrix; v x、vy、vz is the triaxial speed at the previous moment; a x、ay、az is the triaxial acceleration at the current moment; t is the sampling period of the inertial navigation device; w k is process noise;
in the real-time coordinate calculation step, the method for establishing the observation equation of the kalman filter is as follows:
the first position coordinate of the coal mining machine (3) in the three-axis direction of the space is (X AOA,YAOA,ZAOA), an observation equation is established by taking Z k＝[XAOA YAOAZAOA]T as an observed quantity, and the observation equation is as follows:
Zk＝HSk+rk
Where H is the identity matrix and r k is the process noise.
2. The method for positioning a fully mechanized coal mining face (MAO) based on Bluetooth according to claim 1, wherein,
In the data acquisition step, the bluetooth AOA positioning system (2) comprises: a Bluetooth AOA master base station (21), a Bluetooth AOA slave base station (22) and a Bluetooth AOA tag (23); the Bluetooth AOA main base station (21) is arranged on an advanced hydraulic support of an air inlet roadway and an air return roadway, the Bluetooth AOA slave base station (22) is arranged on a working face hydraulic support (4), and the Bluetooth AOA tag (23) is arranged on a machine body of the coal mining machine (3);
The inertial navigation device (1) is arranged on the machine body of the coal mining machine (3).
3. The method for positioning a fully mechanized coal mining face (MAO) based on Bluetooth according to claim 2, wherein,
The real-time coordinate calculating step further comprises a real-time coordinate outputting step: and outputting real-time coordinates of the coal cutter (3) obtained by the Kalman filter.
4. The method for positioning a fully mechanized coal mining face (MAO) based on Bluetooth according to claim 3, wherein,
The real-time coordinate output calculation step further comprises a data updating step, and the specific content is as follows: and after the drawing action of the working face hydraulic support (4) of the Bluetooth AOA slave base station (22) is finished, updating the three-dimensional coordinates of the Bluetooth AOA slave base station (22) after moving in real time, and transmitting the updated coordinate data to the data acquisition step.
5. The method for positioning a fully mechanized coal mining face (MAO) based on Bluetooth according to claim 4, wherein,
And repeating the data acquisition step-the data updating step in the process of cutting a coal by the coal cutter (3).
6. A bluetooth AOA-based fully mechanized coal mining face shearer positioning system, characterized in that a bluetooth AOA-based fully mechanized coal mining face shearer positioning method according to any one of claims 1-5 is applied, comprising: the device comprises a data acquisition module, a data processing module and a Kalman filter which are sequentially connected;
The data acquisition module is used for acquiring the attitude angle and the acceleration of the inertial navigation device (1) and the first position coordinate of the coal mining machine (3) in the three-axis direction measured by the Bluetooth AOA positioning system (2) in the cutting process of the coal mining machine (3);
the data processing module is used for calculating the attitude angle and the acceleration to obtain second position coordinates of the coal mining machine (3) in the three-axis direction of space, and inputting first position coordinates of the coal mining machine (3) in the three-axis direction of space and second position coordinates of the coal mining machine (3) in the three-axis direction of space into the Kalman filter;
The Kalman filter takes the first position coordinate of the coal mining machine (3) in the three-axis direction in space as an observed quantity of the Kalman filter, takes the second position coordinate of the coal mining machine (3) in the three-axis direction in space as a state quantity of the Kalman filter, and inputs the observed quantity and the state quantity into the Kalman filter to obtain real-time coordinates of the coal mining machine (3).
7. The fully mechanized coal mining face (MAO) positioning system based on Bluetooth according to claim 6, wherein,
The real-time coordinate output module is connected with the output end of the Kalman filter and is used for outputting the real-time coordinates of the coal mining machine (3) obtained by the Kalman filter.
8. The fully mechanized coal mining face (MAO) positioning system based on Bluetooth according to claim 6, wherein,
The system also comprises a data updating module connected with the input end of the data acquisition module, and the data updating module is used for updating the coordinates of the Bluetooth AOA positioning system (2) in real time after the pulling action of the hydraulic support (4) of the working face is completed.
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