CN115540911A

CN115540911A - Coal mining machine inertial navigation precision evaluation system and evaluation method, and mobile carrier

Info

Publication number: CN115540911A
Application number: CN202211338392.3A
Authority: CN
Inventors: 邱锦波; 戴建平; 刘聪; 张启志; 刘宏睿; 庄德玉; 方彤
Original assignee: China Coal Technology and Engineering Group Shanghai Co Ltd
Current assignee: China Coal Technology and Engineering Group Shanghai Co Ltd
Priority date: 2022-10-28
Filing date: 2022-10-28
Publication date: 2022-12-30
Also published as: WO2024087478A1

Abstract

The invention relates to an inertial navigation precision evaluation system and method for a coal mining machine and a mobile carrier. The inertial navigation precision evaluation system comprises: the mobile carrier, the inertial navigation, the reflecting prism, the RTK-GNSS mobile station and the electric cabinet are arranged on the mobile carrier; a fixed track; the total station and the reflecting prism are matched to form a total station surveying and mapping system; the RTK-GNSS base station and the RTK-GNSS mobile station are matched to form an RTK-GNSS surveying and mapping system; the upper computer is used for receiving and processing data generated by track alignment processing of the data to be measured from the inertial navigation, the data from the total station and the data from the RTK-GNSS surveying system as reference data, and evaluating the precision of the inertial navigation based on the data to be measured and the reference data. The invention can realize the long-time slow repeated dynamic test of the inertial navigation and can simulate the operation condition of the coal mining machine in the underground operation, so that the evaluation data is more accurate and reliable.

Description

Coal mining machine inertial navigation precision evaluation system and evaluation method, and mobile carrier

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of inertial navigation; the invention particularly relates to an inertial navigation precision evaluation system and an inertial navigation precision evaluation method for a coal mining machine and a mobile carrier.

[ background of the invention ]

The inertial navigation technology is passive navigation, the navigation equipment does not need to transmit any signal to the outside, does not need to receive the outside signal in real time, and only needs to provide the initial position for the navigation system once, so that the navigation system can continuously measure the position and the posture under any external environment (such as vibration, impact, damp and hot, fog, dust and the like), is free from the fluctuation and the inclination of the terrain, and outputs information according to the requirement.

The inertia navigation system can provide the comprehensiveness and autonomy of navigation information, so that the inertia navigation system can be applied to the positioning of the coal mining machine in a mine with a very severe production operation environment. The track needs to be laid when the coal mining machine works underground, and in the actual coal mining process, the coal feeding of the coal mining machine needs a certain angle during coal mining, so that the track needs to be adjusted, but the actual adjustment has errors. Due to the long working face of coal mining, the errors accumulate continuously, so that the track is not curved smoothly. The inertial navigation of the coal mining machine can reversely push the curve of the actual track by measuring and calculating the running track of the coal mining machine, so that the track is compensated to maintain the dynamic balance of the track within an acceptable range.

Therefore, the inertial navigation accuracy of the coal mining machine is particularly important for coal mining. In the current accuracy evaluation of inertial navigation, for example, in the chinese patent with publication number CN108896042B and publication date of 2021, 6 and 29, the walking result information of the test equipment with coordinates is compared with the walking result information of the positioning equipment using RTK-GNSS (real time dynamic measurement — global navigation satellite system) to obtain error statistics. The precision of the RTK-GNSS is amplified to some extent in a dynamic scene, so that the pure RTK-GNSS is suitable for static single-point precision measurement in a terminal position, and is deficient in the dynamic precision measurement of a coal mining machine.

Therefore, an accuracy evaluation system, an evaluation method and a mobile carrier which can be used for inertial navigation of a coal mining machine more optimally are needed.

[ summary of the invention ]

In view of the above, the present invention provides a coal mining machine inertial navigation accuracy evaluation system, an evaluation method, and a mobile carrier, so as to solve or at least alleviate one or more of the above problems and other problems in the prior art.

In order to achieve the foregoing object, a first aspect of the present invention provides an inertial navigation accuracy evaluation system for a coal mining machine, wherein the inertial navigation accuracy evaluation system comprises:

the inertial navigation device comprises a mobile carrier, a reflecting prism, an RTK-GNSS mobile station and an electric cabinet, wherein the inertial navigation device to be tested is arranged on the mobile carrier, and the electric cabinet is used for controlling the starting, stopping and speed of the mobile carrier;

the moving carrier can reciprocate between the two ends of the track along the track;

a total station, said total station and said reflecting prism matching to form a total station mapping system, said total station being fixedly mounted at a start or end of said track independently of said moving carrier and said track;

an RTK-GNSS base station, the RTK-GNSS base station and the RTK-GNSS rover station matching to form an RTK-GNSS surveying system, the RTK-GNSS base station being positioned in an open scene independently of the mobile carrier and the track; and

a host computer for receiving and processing first measurement data from the inertial navigation, second measurement data from the total station, and third measurement data from the RTK-GNSS surveying system, and generating a first running trajectory of the mobile carrier as data to be measured based on the first measurement data, generating a second running trajectory of the mobile carrier as reference data based on the second measurement data and the third measurement data trajectory alignment process, and evaluating accuracy of the inertial navigation based on the data to be measured and the reference data.

In the inertial navigation accuracy evaluation system as described above, optionally, the upper computer is disposed on the mobile carrier or is disposed remotely with respect to the mobile carrier.

In the inertial navigation accuracy evaluation system as described above, optionally, the position of the inertial navigation is always close to the track.

In the inertial navigation accuracy evaluation system as described above, optionally, the moving carrier has front wheels, rear wheels, and a carrier platform, the front wheels and the rear wheels being capable of traveling along the rail and being located at both front and rear ends of the carrier platform, respectively, the carrier platform being recessed immediately between the front wheels and the rear wheels, and the inertial navigation is provided on the carrier platform.

In the inertial navigation accuracy evaluation system as described above, optionally, a limit device is disposed at each end of the track, and a limit switch is disposed on the mobile carrier, and when the mobile carrier runs to each end of the track, the limit device triggers the limit switch to trigger the electric control box to stop the mobile carrier or make the mobile carrier move in a reverse direction.

In order to achieve the foregoing object, a second aspect of the present invention provides a mobile carrier, wherein the mobile carrier is used in an inertial navigation precision evaluation system of a coal mining machine, and the inertial navigation precision evaluation system includes:

the moving carrier;

the moving carrier can reciprocate along the track between two ends of the track;

a total station surveying system consisting of a reflective prism and a total station in a matched configuration, the total station being fixedly mounted at a start or end of the track independently of the moving carrier and the track;

an RTK-GNSS surveying system consisting of an RTK-GNSS rover station and an RTK-GNSS base station matched, the RTK-GNSS base station being located in an open scene independently of the mobile carrier and the orbit; and

a host computer for receiving and processing first measurement data from an inertial navigation to be measured, second measurement data from the total station, and third measurement data from the RTK-GNSS surveying system, and generating a first running trajectory of the mobile carrier as data to be measured based on the first measurement data, generating a second running trajectory of the mobile carrier as reference data based on the second measurement data and the third measurement data trajectory alignment process, and evaluating accuracy of the inertial navigation based on the data to be measured and the reference data,

the inertial navigation system, the reflecting prism and the RTK-GNSS mobile station are arranged on the mobile carrier, and an electric cabinet for controlling the starting, stopping and speed of the mobile carrier is also arranged on the mobile carrier.

In the foregoing moving carrier, optionally, the upper computer is further disposed on the moving carrier.

In the mobile carrier as described above, optionally, the mobile carrier has front wheels, rear wheels, and a carrier platform, the front wheels and the rear wheels are capable of traveling along the track and are respectively located at front and rear ends of the carrier platform, the carrier platform is recessed closely between the front wheels and the rear wheels, and the inertial navigation is provided on the carrier platform such that the position of the inertial navigation is always proximate to the track.

In order to achieve the foregoing object, a third aspect of the present invention provides an inertial navigation accuracy evaluation method for a coal mining machine, where the inertial navigation accuracy evaluation method includes the following steps:

step A: the method comprises the following steps that a movable carrier and a fixed track are arranged, the movable carrier can reciprocate between two ends of the track along the track, an inertial navigation device to be tested, a reflecting prism and an RTK-GNSS mobile station are loaded on the movable carrier, and the track is used for simulating the running track of a coal mining machine;

and B: fixedly mounting a total station at the start or end of the track independently of the mobile carrier and the track, such that the total station and the reflecting prism complete a calibration;

and C: an RTK-GNSS base station is arranged in an open scene, and the RTK-GNSS base station and the RTK-GNSS mobile station are matched to form an RTK-GNSS surveying system;

step D: the RTK-GNSS base station is powered on and observes received satellite signals;

step E: the mobile carrier is powered on, the RTK-GNSS mobile station is started, and a point to be evaluated is selected through static test on the track;

step F: starting the mobile carrier, making the inertial navigation complete initial alignment in a static state, and then reciprocating the mobile carrier along the track between two ends of the track, and simultaneously recording first measurement data of the inertial navigation, second measurement data of the total station and third measurement data of the RTK-GNSS mapping system at the point position;

step G: generating a first running track of the mobile carrier as data to be measured based on the first measurement data, generating a second running track of the mobile carrier as reference data based on the second measurement data and the third measurement data, and evaluating the precision of inertial navigation based on the data to be measured and the reference data.

In the inertial navigation accuracy evaluation method as described above, optionally, the moving carrier operates at a speed of between 3 and 20 meters per minute, and a time period of each test is between 6 and 8 hours.

In the inertial navigation accuracy evaluation method as described above, optionally, the point is a point where a mapping error of the RTK-GNSS mapping system fluctuates in a centimeter level.

In the inertial navigation accuracy evaluation method, optionally, the inertial navigation is always disposed on the mobile carrier in close proximity to the track.

In the inertial navigation accuracy evaluation method as described above, optionally, the moving carrier has front wheels, rear wheels, and a carrier platform, the front wheels and the rear wheels being capable of traveling along the rail and being located at both front and rear ends of the carrier platform, respectively, the carrier platform being recessed immediately between the front wheels and the rear wheels, and the inertial navigation is provided on the carrier platform.

In the inertial navigation accuracy evaluation method, optionally, the step G is performed online or offline.

In the inertial navigation accuracy evaluation method as described above, optionally, in the step G, deviation calculation statistics including a root mean square error of a whole trajectory deviation and a deviation maximum value are performed on the data to be measured and the reference data.

In the inertial navigation accuracy evaluation method as described above, optionally, in the step G, the data to be measured and the start point and the end point of the reference data are respectively aligned, and then the root mean square error and the maximum deviation value at all the point locations are counted.

In the inertial navigation accuracy evaluation method, optionally, in the step G, the data to be measured obtained by two measurements of the inertial navigation is subjected to deviation calculation statistics, where the deviation calculation statistics include a root mean square error and a maximum deviation value of an overall trajectory deviation.

According to the coal mining machine inertial navigation precision evaluation system and the evaluation method, the underground operation condition and environment of the coal mining machine are simulated through the mutual matching of the movable carrier and the fixed track, and the inertial navigation data are evaluated according to the data after the alignment processing of the data tracks of the total station and the RTK-GNSS surveying and mapping system, so that the inertial navigation precision is evaluated. Based on the coal mining machine inertial navigation precision evaluation system and the coal mining machine inertial navigation precision evaluation method, the invention also provides a mobile carrier which is suitable for the coal mining machine inertial navigation precision evaluation system to realize the beneficial effects and advantages of the mobile carrier. The invention can realize the long-time slow dynamic repeated test and repeated verification of the inertial navigation, and makes the evaluation data more accurate and reliable.

[ description of the drawings ]

The disclosure of the present invention will be more apparent with reference to the accompanying drawings. It is to be understood that these drawings are solely for purposes of illustration and are not intended as a definition of the limits of the invention. In the figure:

FIG. 1 is a schematic diagram of one embodiment of a coal mining machine inertial navigation accuracy evaluation system of the present invention showing a moving carrier and a track;

FIG. 2 is a schematic view of the moving carrier of FIG. 1 at a curved section of the track;

FIG. 3 is a schematic view of another embodiment of the mobile carrier of the present invention in a curved section of a track;

FIG. 4 is a flow chart of one embodiment of a coal mining machine inertial navigation accuracy assessment method of the present invention;

FIG. 5 is a schematic diagram illustrating the evaluation of the overall absolute deviation of the inertial navigation accuracy evaluation trajectory of the coal mining machine according to the present invention;

FIG. 6 is a schematic diagram illustrating deviation evaluation of an inertial navigation accuracy evaluation trajectory of a coal mining machine according to the present invention; and

fig. 7 is a schematic diagram of evaluation of the repetition degree of the inertial navigation precision evaluation track of the coal mining machine.

Reference numerals are as follows: 10-moving the carrier; 11-front wheel; 12-a rear wheel; 13-a carrier platform; 14-limit switch; 20-inertial navigation; 30-RTK-GNSS rover station; 31-RTK-GNSS base station; 40-an electric cabinet; 50-machine-in position; 60-track; 61-a limiting device; 70-a total station; 71-a reflective prism; a-a starting point; b-true end point; b' -calculating an end point; n-point location.

[ detailed description ] A

The following describes an inertial navigation precision evaluation system and an evaluation method of a coal mining machine and a mobile carrier according to the invention by way of example with reference to the accompanying drawings and specific embodiments. Furthermore, to any single feature described or implicit in the embodiments herein or shown or implicit in the drawings, the invention still allows any combination or subtraction between these features (or their equivalents) to proceed without any technical obstacles, so that further embodiments according to the invention should be considered within the scope of this disclosure.

It should also be noted that the terms "up", "down", "front", "back", "high", "low", etc. indicate the orientation or position relationship based on the relative up-down, front-back, high-low directions of the moving carrier in the drawings, i.e. the inertial navigation precision evaluation system of the coal mining machine, and are only for convenience of describing and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present disclosure. In the description of the present disclosure, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.

FIG. 1 is a schematic diagram of one embodiment of a coal mining machine inertial navigation accuracy evaluation system of the present invention showing a moving carrier; FIG. 2 is a schematic view of the moving carrier of FIG. 1 at a curved section of the track; fig. 3 is a schematic view of another embodiment of the mobile carrier of the present invention in a curved section of the track.

As can be seen from the figure, the inertial navigation accuracy evaluation system includes a mobile carrier 10, a track 60, an RTK-GNSS base station 31, a total station 70, and an upper computer 50. The inertial navigation system 20 to be measured, the RTK-GNSS mobile station 30 and the electric cabinet 40 are arranged on the mobile carrier 10, and the RTK-GNSS mobile station 30 is used for being matched with the RTK-GNSS base station to form the RTK-GNSS surveying and mapping system. A reflecting prism 71 is further arranged on the mobile carrier 10, and the reflecting prism 71 is used for matching with the total station 70 to form a total station surveying and mapping system.

The total station surveying and mapping system is a high-tech surveying and mapping instrument integrating light collection, mechanics and electricity, and has the surveying and mapping instrument system integrating angle measurement, distance (slant distance, flat distance and height difference) measurement, three-dimensional coordinate measurement, wire measurement, intersection fixed point measurement, lofting measurement and other measuring functions, so that the system has high dynamic measurement precision, and can more accurately measure the motion trail of the mobile carrier 10, and can more effectively evaluate the precision of inertial navigation by combining the system with an RTK-GNSS surveying and mapping system. As described above, the inertial navigation system 20 to be measured and the electric control box 40 are also provided on the mobile carrier 10. The upper computer 50 may be provided on the mobile carrier 10 or remotely and independently.

The mobile carrier 10 is intended to simulate a shearer loader, which is capable of reciprocating along the track 60. An inertial navigation 20 is provided on the mobile carrier 10. While the mobile carrier 10 is reciprocating on the track 60, the inertial navigation device 20 can monitor the moving track of the mobile carrier 10 and output the monitored data as the first measurement data.

The specific form of the mobile carrier 10 is not limited. As in the embodiment of fig. 2, which may be in the form of a cart comprising wheels and a carrier platform 13 carried thereby, various components such as inertial navigation 20, RTK-GNSS rover 30, electronic control box 40, upper computer 50, reflecting prism 71, etc. may be disposed on the carrier platform. The trolley can travel on the track 60 via wheels. As is clear from the embodiment of fig. 2, the carrier platform 13 is longer, so that the distance between the front wheel 11 and the rear wheel 12 is also longer, so that the inertial navigation system 20 on the moving carrier 13 is slightly offset from the track 60 on the curved section of the track 60, so that the data measured by the inertial navigation system 20 on the curved section of the track 60 is slightly offset. In order to solve the above problem, the embodiment shown in fig. 3 may be adopted, in which the inertial navigation unit 20 is disposed on the carrier platform 13 between the wheels, so as to shorten the carrier platform, shorten the distance between the front and rear wheels, make the distance between the front and rear wheels substantially equal to the length of the inertial navigation unit, and reduce the deviation of the inertial navigation unit 20 relative to the track 60, thereby improving the measurement accuracy thereof. The RTK-GNSS rover station 30 and the reflecting prism 71 may be placed atop the inertial navigation 20; other components such as the electric cabinet 40, the upper computer 50, etc. may be provided at the front or rear end of the mobile carrier 10, not between the front and rear wheels. The RTK-GNSS rover station 30 and the reflecting prism 71 are located close to the inertial navigation system 20, which is advantageous for increasing the accuracy of the evaluation.

In the embodiment according to fig. 1, the rail 60 is a fixed rail. Compared with the situation that the non-fixed track needs the prism of the RTK-GNSS mobile station or the total station to be used as a reference value each time and then inertial navigation is used for comparison, the fixed track in the embodiment can be reused, is convenient to use and low in cost, can be repeatedly used after an experimental platform is established, and avoids error fluctuation caused by different levels of operating the RTK-GNSS mobile station or the prism by different operators. In this embodiment, the fixed track will standardize the process of testing, and the requirement for operating personnel is low, is favorable to deriving more objective result.

In various embodiments, it may be a curved track to simulate the undulating, curved travel path possible with a shearer operating downhole. As can be seen, the track 60 may have undulating sections, may have left and right curved sections, and may also have both undulating and left and right curved sections. It is not excluded here that the rail 60 has a partially straight section.

The mobile carrier 10 is capable of reciprocating along the track 60 between the ends of the track 60 to simulate the actual operating conditions of a shearer operating downhole. The fixed track 60 can fix the running route of the mobile carrier 10 to reduce the influence of the running route on the precision evaluation of the inertial navigation 20, and then the reciprocating running of the mobile carrier 10 is used for repeatedly testing and verifying the inertial navigation 20, so that the evaluation data is more accurate and reliable.

In practice, the fixed orbit 60 can also be modeled to more closely compare the accuracy of the trajectory measured by the inertial navigation system 20. In an alternative embodiment, the track 60 may also be a movable track to simulate a pushable track of an undersea shearer. The track 60 may be a monorail, which has a simple structure and saves materials, and the mobile carrier 10 can stably ascend and descend along with the fluctuation of the track 60 and is not easy to roll over, by holding the track tightly. In the evaluation of the inertial navigation precision of the coal mining machine, the more stable the running of the mobile carrier 10 is, the more the influence of the shaking of the mobile carrier 10 on the evaluation result can be eliminated, so that the precision of the inertial navigation 20 can be more accurately evaluated.

In alternative embodiments, the track 60 may also be a dual track, a multi-track, or the like. In some cases, the corresponding mobile carrier 10 may have a relatively simple structural design, which is beneficial to simplify the manufacturing difficulty and save the cost.

In an alternative embodiment, the track 60 may be secured by a main support pole, the upper end of which is attached to the track 60 and the lower end of which is vertically secured to the ground. In order to fix the track 60 on the ground more firmly, one or two auxiliary support rods may be further provided, and the auxiliary support rods are fixed on the main support rods in a crossed manner to form a triangular support. In a specific application, the high position of the rail 60 can be fixed by the triangular supports, and the low position of the rail 60 can be fixed by only two support rods, so as to save materials.

Alternatively, more support rods may be used for fixing in practice, and the support rods form an included angle with each other, so that the rail 60 can be fixed on the ground more firmly. The connection and fixing manner of the support rod may be bolt connection, or may be binding, riveting, welding, or the like.

In the embodiment of fig. 1, as mentioned above, an electric control box 40 is further disposed on the mobile carrier 10 for controlling the start, stop and speed of the mobile carrier 10. The staff can carry out remote control, remote adjustment to this electric cabinet, or carry out self-control through the computer program.

In order to cooperate with the operation of the electric cabinet 40, the rails 60 may be provided at both ends thereof with a stopper 61. Correspondingly, the mobile carrier 10 may be provided with a limit switch 14. When the mobile carrier 10 runs to both ends of the track 60, the limit device 61 triggers the corresponding limit switch 14, thereby triggering the electric cabinet 40 to stop the mobile carrier 10 or to make the mobile carrier 10 move reversely. The electric control box 40 may be controlled by a control panel provided thereon, or may be remotely controlled by a mobile terminal such as a mobile phone. In other embodiments, the limit device 61 may be disposed beside the two ends of the track to trigger the limit switch 14.

As can also be seen from the figure, the mobile carrier 10 has front wheels 11 and rear wheels 12, said front wheels 11 and said rear wheels 12 being able to travel along a track 60, so that the mobile carrier 10 travels along the track. In an alternative embodiment, motors may be respectively mounted on the front wheel 11 and the rear wheel 12, and when the mobile carrier 10 is operated, the front motor and the rear motor are simultaneously turned on to guide the front wheel 11 and the rear wheel 12 to rotate, so as to ensure that the speed of the mobile carrier 10 is stable.

In a specific implementation, a wheel speed encoder may be further installed on the mobile carrier 10, and the wheel speed encoder may monitor the instantaneous speed of the mobile carrier 10 in real time. The wheel speed encoder may be passively powered by a battery so as not to impede the movement of the mobile carrier 10 on the track 60. In alternative embodiments, the mobile carrier 10 may be provided with other numbers of one or more wheels, as long as a smooth running of the mobile carrier 10 on the track 60 is ensured.

According to the embodiment of fig. 1, the mobile carrier 10 further has a carrier platform 13. As shown in the figure, the front wheel 11 and the rear wheel 12 are located at the front and rear ends of the carrier platform 13, respectively, and the inertial navigation device 20 is disposed on the carrier platform 13 between the front wheel 11 and the rear wheel 12. The carrier platform 13 is recessed immediately between the front wheels 11 and the rear wheels 12, both to reduce the length dimension of the entire mobile carrier 10 and to be closer to the track 60 and to remain stationary during operation of the mobile carrier 10. Therefore, the position of the inertial navigation unit 20 on the carrier platform 13 is always close to the track 60, so that the inertial navigation unit 20 can be close to the track 60 as much as possible in the evaluation process, and the running track of the inertial navigation unit can be matched with the track of the track.

As shown in the embodiment of the figure, the inertial navigation accuracy evaluation system further includes a total station 70, and correspondingly, a reflecting prism 71 is disposed on the moving carrier 10. Total station 70 may be calibrated manually to calibrate reflecting prism 71. In practice, a total station 70 that can be automatically aligned with the prism 71 may also be used, to avoid the time and error of manual alignment.

The total station 70 is fixedly mounted at the start of the track 60, in an alternative embodiment the total station 70 may also be fixedly mounted at the end of the track 60. The total station 70 and the reflecting prism 71 are matched to form a total station surveying and mapping system, so as to monitor the moving track of the reflecting prism 71, and thus know the moving track of the moving carrier 10. The data monitored by the total station surveying and mapping system may be output as second measurement data. The total station 70 is independent of the mobile carrier 10 and the track 60, and the prism can be installed at a high position on the mobile carrier 10 to avoid the situation that the total station 70 and the reflecting prism 71 are shielded, so that the dynamic moving track of the reflecting prism 71 cannot be read, and the accuracy of the second measurement data is affected. The total station 70 is independently arranged, so that the total station 70 can better receive and calibrate signals, and dynamic monitoring of the motion track of the mobile carrier 10 is facilitated.

As can be seen from the embodiment in the figure, the inertial navigation accuracy evaluation system further includes an RTK-GNSS base station 31, and correspondingly, an RTK-GNSS rover station 30 is further disposed on the mobile carrier 10. The RTK-GNSS rover station 30 may be mounted aloft on the mobile carrier 10.

The RTK-GNSS base station 31 is independent of the mobile carrier 10 and the track 60, and the RTK-GNSS base station 31 and the RTK-GNSS rover station 30 are matched to form an RTK-GNSS surveying system for monitoring the moving trajectory of the RTK-GNSS rover station 30 so as to know the moving trajectory of the mobile carrier 10. The data monitored by the RTK-GNSS surveying system may be output as third measurement data.

The RTK-GNSS base station 31 should be placed in an open scene, i.e. to ensure that the RTK-GNSS base station 31 is free from any obstructions by buildings etc. in order to better receive and calibrate signals of GNSS to which the RTK-GNSS rover 30 is positioned. The base station typically needs to receive more than 25 navigation satellite signals.

According to the embodiment, the second measurement data with high dynamic precision measured by the total station surveying and mapping system and the data generated by the alignment processing of the third measurement data track measured by the RTK-GNSS surveying and mapping system are used as the reference data, and the reference data can more accurately indicate the motion track of the mobile carrier 10. The first running track of the mobile carrier 10 is generated as data to be measured based on the first measurement data, the second running track of the mobile carrier 10 is generated as reference data based on the second measurement data and the third measurement data, and the accuracy of the inertial navigation system 20 can be evaluated based on the data to be measured and the reference data, and the obtained evaluation data is more reliable due to the accuracy of the reference data. The evaluation and evaluation can be performed online or offline, and can be selected according to specific needs in the actual evaluation process. These calculations may be performed in an upper computer; or can be carried out on other computers or notebooks connected with the upper computer; or part of the display is carried out on other computers or notebooks connected with the upper computer in the upper computer, and visual display can be carried out on the computers or the notebooks.

The principle of inertial navigation is to measure the angular velocity and the acceleration of three axes XYZ, the time integral measured by the angular velocity is an angle, the time integral measured by the acceleration is a distance, and the path route of the coal mining machine is drawn according to the distance and the angle. The curve of the track is then back-inferred by plotting the curve of the shearer's travel with the speed and distance and direction of the shearer at each moment.

According to the operation method of the inertial navigation system 20, it can be known that the slower the operation speed of the mobile carrier 10 is, the lower the accuracy of the inertial navigation system 20 is. In this embodiment, to further measure the accuracy of the inertial navigation system 20, the mobile carrier 10 is set to travel on a fixed track at a relatively slow speed, which may be between 3 and 20 meters per minute, to evaluate the accuracy of the inertial navigation system 20 at low speeds. The running speed of the coal mining machine during underground operation is simulated, so that the monitored first measurement data are closer to the actual situation, the evaluation data can reflect the precision of the inertial navigation 20 more accurately, and research personnel can debug the inertial navigation 20 conveniently.

In the embodiment, the time period of each test of the coal mining machine inertial navigation precision evaluation system can be between 6 and 8 hours so as to simulate the running time of a real underground coal mining machine, namely the time of changing shifts and powering off of coal miners. In addition, the coal mining machine inertial navigation precision evaluation system can repeatedly test at a low speed for a long time, and repeatedly verify while simulating the operation of the coal mining machine in the underground, so that the evaluation data is more accurate and reliable. In the actual test process, the test time can be selected according to specific evaluation contents, and can be selected to be any time between 0 and 8 hours.

According to the embodiment in the figure, the inertial navigation accuracy evaluation system further comprises an upper computer 50, the upper computer 50 may be configured to receive and process the first measurement data from the inertial navigation 20 and the second measurement data from the total station and the third measurement data from the RTK-GNSS surveying system, and generate a first moving trajectory of the mobile carrier 10 as data to be measured based on the first measurement data, generate a second moving trajectory of the mobile carrier 10 as reference data based on the second measurement data and the third measurement data trajectory alignment process, and evaluate the accuracy of the inertial navigation 20 based on the data to be measured and the reference data.

The host computer 50, which may be disposed on the mobile carrier 10 in the illustrated embodiment, is directly connected to the inertial navigation system 20 and the RTK-GNSS surveying system disposed on the mobile carrier 10 to display the first measurement data of the inertial navigation system 20 to generate a first trajectory profile of the mobile carrier 10 and the second measurement data of the RTK-GNSS surveying system to generate a second trajectory profile of the mobile carrier 10.

In an alternative embodiment, the upper computer 50 may also be remotely located relative to the mobile carrier 10 to remotely observe the operation of the mobile carrier 10 as monitored by the inertial navigation system 20 and the RTK-GNSS mapping system, and to evaluate the accuracy of the inertial navigation system 20 based on the data to be measured and the reference data. The upper computer 50 may be a computer or a mobile device.

According to the inertial navigation precision evaluation system, the invention further provides a coal mining machine inertial navigation precision evaluation method. Fig. 4 is a flowchart of an embodiment of the coal mining machine inertial navigation accuracy evaluation method according to the present invention. The inertial navigation precision evaluation method of the embodiment adopts the inertial navigation precision evaluation system, so that the inertial navigation precision evaluation method has all the advantages of the evaluation system.

As shown in fig. 4, the inertial navigation accuracy evaluation method of the embodiment includes the following steps:

step A: a moving carrier 10 and a fixed rail 60 are provided, and the moving carrier 10 can reciprocate along the rail 60 between both ends of the rail 60. The movable carrier 10 is used for simulating a coal mining machine, and when the limit switches 14 of the movable carrier 10 touch the limit devices 61 at two ends of the track 60, the electric control box 40 is triggered to stop moving the carrier 10. At this time, the evaluator may send a signal to move the mobile carrier 10 in the reverse direction, or the electric cabinet 40 may automatically send a signal to move the mobile carrier 10 in the reverse direction. The reciprocating operation of the mobile carrier 10 can realize the repeated test and repeated verification of the inertial navigation precision, thereby obtaining more reliable evaluation data.

The inertial navigation system 20 to be measured, the reflecting prism 71 and the RTK-GNSS mobile station 31 are loaded on the mobile carrier 10, and the track 60 is used for simulating the running track of the coal mining machine. The carrier platform 13 of the mobile carrier 10 is recessed immediately between the front wheels 11 and the rear wheels 12 (as shown in fig. 1), this configuration of the carrier platform 13 is closer to the track 60, and the inertial navigation device 20 is disposed on the carrier platform 13, so that the inertial navigation device 20 is always closer to the track 60, enabling more accurate monitoring, relative to a situation where the carrier platform 13 is not recessed.

And B: a total station 70 is fixedly mounted at the start or end of the track 60, which total station 70 is independent of the mobile carrier 10 and the track 60 to avoid obstructions between the total station 70 and the reflecting prism 71, so that the total station 70 is better able to receive, calibrate the signal.

And (3) finishing calibration of the total station 70 and a reflecting prism 71 arranged on the mobile carrier 10, and taking the calibration as a reference, so that the total station 70 dynamically monitors the motion track of the mobile carrier 10 in the evaluation process.

Total station 70 may be calibrated manually to calibrate reflecting prism 71. In practice, a total station 70 that can be automatically aligned with the prism 71 may also be used, to avoid the time and error of manual alignment.

And C: and arranging an RTK-GNSS base station 31 in an open scene, and matching the RTK-GNSS base station 31 and the RTK-GNSS mobile station 30 to form an RTK-GNSS mapping system. The RTK-GNSS surveying system is used to monitor the trajectory of the mobile carrier 10, and the third measurement data monitored by the RTK-GNSS surveying system is more accurate and can be used as reference data. The open scene can prevent the RTK-GNSS base station 31 from being blocked, so that the RTK-GNSS base station 31 can better receive and calibrate signals.

Step D: the RTK-GNSS base station 31 is powered up and observes the received satellite signals. The position of the RTK-GNSS rover 30 is calibrated with the RTK-GNSS base station 31 as the origin.

And E, step E: the mobile carrier 10 is powered on and the RTK-GNSS rover 30 is started and the station selected for evaluation is statically tested on the track 60.

Specifically, since the surveying error fluctuation of the RTK-GNSS surveying system and the dynamic surveying error of the total station surveying system are both in the centimeter level, the point location may be set at the point location in the centimeter level, and the selection of the point location may more accurately evaluate the accuracy of the inertial navigation system 20.

The first survey data from inertial navigation 20, the second survey data from total station 70, and the data from the alignment process of the third survey data trajectory of the RTK-GNSS surveying system will be compared at the selected point of evaluation to evaluate the accuracy of inertial navigation 20.

Step F: the mobile carrier 10 is activated.

The moving carrier 10 was run at a speed between 3 and 20 meters per minute for a time period between 6 and 8 hours per test to simulate the actual running speed and working time of the shearer in the well. In the actual test process, the test time can be selected according to specific evaluation contents, and can be selected to be any time between 0 and 8 hours.

In evaluation, the inertial navigation device 20 completes initial alignment in a static state, and then the mobile carrier 10 is reciprocated along the rail 60 between both ends of the rail 60, and the total station 70 automatically tracks the reflection prism 71 disposed on the mobile carrier 10 all the way. Meanwhile, the upper computer 50 records the first measurement data of the inertial navigation system 20 at the point position, the second measurement data of the total station 70 and the third measurement data of the RTK-GNSS surveying system.

Step G: and generating a first running track of the mobile carrier 10 as data to be measured based on the first measurement data, and generating a second running track of the mobile carrier 10 as reference data based on the second measurement data and the third measurement data track alignment processing. The host computer 50 will evaluate the accuracy of the inertial navigation 20 based on the data to be measured and the reference data. It should be noted here that the evaluation by the upper computer 50 may be performed online or offline, that is, simultaneously with the measurement or storing data during the measurement and then evaluating after the measurement is finished. In the actual evaluation process, the selection can be carried out according to specific needs.

The evaluation method can be divided into track overall absolute deviation evaluation, track deviation evaluation and track repeatability evaluation.

FIG. 5 is a schematic diagram of the evaluation of the overall absolute deviation of the inertial navigation accuracy evaluation trajectory of the coal mining machine according to the present invention. As shown in the figure, in the evaluation of the overall absolute deviation of the track, the deviation calculation statistics is carried out on all track point positions n of the segment AB' of the data to be measured and the segment AB of the reference data, and the root mean square error and the maximum deviation value at all the point positions n are counted. The method carries out strict time synchronization on the segment AB' of the data to be measured and the segment AB of the reference data. It should be noted that the overall absolute deviation estimation of the trajectory not only includes the integrated accumulated errors from the starting point a to the real end point B and the calculated end point B', but also includes the overall rotational deviation caused by the initial alignment heading error at the starting point a.

FIG. 6 is a schematic diagram of the evaluation of the deviation of the inertial navigation precision evaluation trajectory of the coal mining machine according to the present invention. As shown in the figure, in the evaluation of the track deviation degree, the data to be measured needs to be respectively aligned with the starting point a and the end points B and B' of the reference data, and then the root mean square error and the maximum deviation value at all the points n need to be counted. The data to be measured and the reference data of the method are strictly time-synchronized. It should be noted that the deviation error of the track is only related to the integral calculation accumulated error of the data to be measured from the starting point to the end point and the reference data.

Fig. 7 is a schematic diagram of evaluation of the repetition degree of the inertial navigation precision evaluation trajectory of the coal mining machine. As shown, in the track repeatability evaluation, the moving carrier 10 is required to move back and forth on the fixed track 60. And recording the track calculated by the operation of the mobile carrier 10 every time, and counting the maximum value of the root mean square error and the deviation of each point of each track relative to each point corresponding to the rest tracks. It should be noted that the deviation error of the track is only related to the integral calculation accumulated error of the data to be measured from the starting point a to the end point B and the reference data, and is not related to the initial alignment error. Optionally, the evaluation method performs deviation calculation statistics on the data to be measured twice by the inertial navigation device 20, wherein the deviation calculation statistics include a root mean square error and a deviation maximum value of the overall trajectory deviation. In the actual evaluation process, deviation calculation statistics can be carried out on the inertial navigation 20 measurement data for multiple times so as to repeatedly verify, so that the evaluation data is more accurate and reliable.

In fig. 5 to 7, n-1, n-2, n-3, n-4, n-5 respectively represent different measurement points.

According to the coal mining machine inertial navigation precision evaluation system, the condition and the environment of underground operation of a coal mining machine are simulated through the mutual matching of the movable carrier 10 and the fixed track 60, and the inertial navigation 20 is compared with more accurate track data generated by aligning and processing data tracks measured by a high dynamic precision positioning total station surveying and mapping system and a high precision positioning RTK-GNSS surveying and mapping system, so that the precision of the inertial navigation 20 is evaluated more accurately, and the follow-up research, development and debugging of research and development personnel are facilitated.

The invention also provides a mobile carrier 10 for the coal mining machine inertial navigation precision evaluation system, and the mobile carrier 10 is suitable for the coal mining machine inertial navigation precision evaluation system to realize all the advantages of the coal mining machine inertial navigation precision evaluation system.

Further, the invention also provides a precision evaluation method according to the coal mining machine inertial navigation precision evaluation system, and evaluation values can be obtained more accurately through the precision evaluation method.

In conclusion, the invention can realize the long-time slow repeated dynamic test of the inertial navigation system 20, and can perform repeated verification while simulating the real underground operation of the coal mining machine, so that the evaluation data is more accurate and reliable.

The technical scope of the present invention is not limited to the contents in the above description, and those skilled in the art can make various changes and modifications to the above embodiments without departing from the technical spirit of the present invention, and these changes and modifications should fall within the scope of the present invention.

Claims

1. The coal mining machine inertial navigation precision evaluation system is characterized by comprising:

the system comprises a mobile carrier, wherein an inertial navigation device to be tested is arranged on the mobile carrier, and a reflecting prism, an RTK-GNSS mobile station and an electric cabinet for controlling the starting, stopping and speed of the mobile carrier are also arranged on the mobile carrier;

2. The inertial navigation accuracy assessment system of claim 1, wherein the upper computer is disposed on the mobile carrier or remotely with respect to the mobile carrier.

3. The inertial navigation accuracy assessment system of claim 1, wherein the position of the inertial navigation is always proximate to the track.

4. The inertial navigation accuracy assessment system of claim 3, wherein said mobile carrier has front and rear wheels and a carrier platform, said front and rear wheels being capable of traveling along said track and located at respective front and rear ends of said carrier platform, said carrier platform being recessed immediately between said front and rear wheels, and said inertial navigation is provided on said carrier platform.

5. The inertial navigation accuracy evaluation system of claim 1, wherein a limit device is disposed at each end of the track, and a limit switch is disposed on the mobile carrier, and when the mobile carrier runs to each end of the track, the limit device triggers the limit switch to trigger the electric cabinet to stop the mobile carrier or to move the mobile carrier in a reverse direction.

6. A mobile carrier is characterized in that the mobile carrier is used for an inertial navigation precision evaluation system of a coal mining machine, and the inertial navigation precision evaluation system comprises:

the moving carrier;

an upper computer for receiving and processing first measurement data from an inertial navigation to be measured, second measurement data from the total station, and third measurement data from the RTK-GNSS surveying system, and generating a first travel trajectory of the mobile carrier as data to be measured based on the first measurement data, a second travel trajectory of the mobile carrier as reference data based on the second measurement data and the third measurement data trajectory alignment process, and evaluating accuracy of the inertial navigation based on the data to be measured and the reference data,

7. The mobile carrier of claim 6, wherein the upper computer is further disposed on the mobile carrier.

8. The mobile carrier of claim 6, wherein the mobile carrier has front wheels, rear wheels, and a carrier platform, the front and rear wheels being capable of traveling along the track and located at respective front and rear ends of the carrier platform, the carrier platform being recessed immediately between the front and rear wheels, and the inertial navigation is disposed on the carrier platform such that the position of the inertial navigation is always proximate to the track.

9. The coal mining machine inertial navigation precision evaluation method is characterized by comprising the following steps:

step A: the method comprises the following steps that a movable carrier and a fixed track are arranged, the movable carrier can reciprocate between two ends of the track along the track, an inertial navigation system to be tested, a reflecting prism and an RTK-GNSS mobile station are loaded on the movable carrier, and the track is used for simulating the running track of a coal mining machine;

and B: fixedly mounting a total station at the start or end of the track independently of the moving carrier and the track, such that the total station and the reflecting prism complete a calibration;

step E: the mobile carrier is powered on, the RTK-GNSS mobile station is started, and a static test is carried out on the track to select a point to be evaluated;

step F: starting the mobile carrier to make the inertial navigation complete initial alignment in a static state, and then reciprocating the mobile carrier along the track between two ends of the track, and simultaneously recording first measurement data of the inertial navigation, second measurement data of the total station and third measurement data of the RTK-GNSS mapping system at the point position;

g: generating a first moving track of the mobile carrier as data to be measured based on the first measurement data, generating a second moving track of the mobile carrier as reference data based on the second measurement data and the third measurement data track alignment processing, and evaluating the precision of the inertial navigation based on the data to be measured and the reference data.

10. The inertial navigation accuracy assessment method of claim 9, wherein the moving carrier is operated at a speed of between 3 and 20 meters per minute with a time period of between 6 and 8 hours per test.

11. The inertial navigation accuracy assessment method of claim 9, wherein the point is a point at which a mapping error of the RTK-GNSS mapping system fluctuates at the centimeter level.

12. The inertial navigation accuracy assessment method of claim 9, wherein the inertial navigation is always disposed on the mobile carrier proximate to the track.

13. The inertial navigation accuracy assessment method according to claim 12, wherein the mobile carrier has front wheels, rear wheels and a carrier platform, the front wheels and the rear wheels being capable of travelling along the track and located at the front and rear ends of the carrier platform respectively, the carrier platform being recessed immediately between the front wheels and the rear wheels, and the inertial navigation is provided on the carrier platform.

14. The inertial navigation accuracy assessment method according to claim 9, wherein said step G is performed online or offline.

15. The inertial navigation accuracy evaluation method according to any one of claims 9 to 14, wherein in step G, deviation calculation statistics including a root mean square error and a deviation maximum value of an overall trajectory deviation are performed on the data to be measured and the reference data.

16. The inertial navigation accuracy evaluation method according to any one of claims 9 to 14, wherein in step G, the data to be measured and the start point and the end point of the reference data are respectively aligned, and then the root mean square error and the maximum value of deviation at all the point locations are counted.

17. The inertial navigation accuracy evaluation method according to any one of claims 9 to 14, wherein in step G, the data to be measured of the two measurements of the inertial navigation are subjected to deviation calculation statistics, which include a root mean square error of an overall trajectory deviation and a deviation maximum value.