WO2024087496A1 - Inertial navigation accuracy evaluation system and method for coal mining machine - Google Patents

Inertial navigation accuracy evaluation system and method for coal mining machine Download PDF

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Publication number
WO2024087496A1
WO2024087496A1 PCT/CN2023/083818 CN2023083818W WO2024087496A1 WO 2024087496 A1 WO2024087496 A1 WO 2024087496A1 CN 2023083818 W CN2023083818 W CN 2023083818W WO 2024087496 A1 WO2024087496 A1 WO 2024087496A1
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WO
WIPO (PCT)
Prior art keywords
inertial navigation
track
mobile carrier
carrier
accuracy evaluation
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PCT/CN2023/083818
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French (fr)
Chinese (zh)
Inventor
邱锦波
戴建平
刘聪
张启志
刘宏瑞
庄徳玉
方彤
Original Assignee
中煤科工集团上海有限公司
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Publication of WO2024087496A1 publication Critical patent/WO2024087496A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • 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

Definitions

  • the present invention relates to the technical field of inertial navigation; in particular, the present invention relates to a coal mining machine inertial navigation accuracy evaluation system and an accuracy evaluation method thereof.
  • Inertial navigation technology is passive navigation.
  • the navigation equipment does not need to transmit any signals to the outside world, nor does it need to receive external signals in real time. It only needs to provide the navigation system with an initial position.
  • the navigation system can then continuously measure position and attitude in any external environment (such as vibration, impact, humidity, heat, fog, dust, etc.), regardless of the ups and downs and inclination of the terrain, and output information as needed and as required.
  • the inertial navigation system can provide comprehensive and autonomous navigation information, making it possible to use it in the positioning of coal mining machines in mines with very harsh production and operation environments.
  • Coal mining machines need to lay tracks when working underground. In the actual coal mining process, the coal mining machine needs to feed at a certain angle when mining, so the track needs to be adjusted, but the actual adjustment will have errors. Since the coal mining working surface is very long, the error will continue to accumulate, making the track curved and uneven.
  • the inertial navigation of the coal mining machine can reverse the curve of the actual track by measuring the running trajectory of the coal mining machine, thereby compensating the track to maintain the dynamic balance of the track within an acceptable range.
  • the accuracy of inertial navigation of coal mining machines is particularly important for coal mining.
  • the flying car or sports car test is usually used, such as the "Accuracy Test Method of Inertial Navigation System” in "Silicon Valley” Issue 05, 2013.
  • This test uses GPS as the test benchmark.
  • the test route is not fixed, repeated tests will affect the test results, and the measured data are not comparable, so it cannot be used to evaluate the accuracy of inertial navigation of coal mining machines.
  • the present invention provides a coal mining machine inertial navigation accuracy evaluation system and an accuracy evaluation method thereof, thereby solving or at least alleviating one or more of the above-mentioned problems and other problems existing in the prior art.
  • the first aspect of the present invention provides a coal mining machine inertial navigation accuracy evaluation system, wherein the inertial navigation accuracy evaluation system comprises:
  • a mobile carrier, the inertial navigation to be tested is arranged on the mobile carrier, and an electric control box for controlling the start, stop and speed of the mobile carrier is also arranged on the mobile carrier;
  • a fixed track the track is used to simulate the running track of the coal mining machine, and the mobile carrier can reciprocate along the track between the two ends of the track;
  • a host computer is used to receive and process the measurement data from the inertial navigation, and to generate the running trajectory of the mobile carrier as the data to be measured based on the measurement data, and to evaluate the accuracy of the inertial navigation based on the data to be measured obtained by multiple measurements.
  • the host computer is arranged on the mobile carrier or is remotely arranged relative to the mobile carrier.
  • the position of the inertial navigation is always close to the track.
  • the mobile carrier has front wheels, rear wheels and a carrier platform, the front wheels and rear wheels can move along the track and are respectively located at the 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 arranged on the carrier platform.
  • limit devices are provided at both ends of the track, and limit switches are provided on the mobile carrier.
  • the limit device triggers the limit switch, thereby triggering the electric control box to stop the mobile carrier or make the mobile carrier move in the opposite direction.
  • the second aspect of the present invention provides a method for evaluating the inertial navigation accuracy of a coal mining machine, wherein the inertial navigation accuracy evaluation method comprises the following steps:
  • Step A a mobile carrier and a fixed track are provided, wherein the mobile carrier can reciprocate along the track between two ends of the track, an inertial navigation to be tested is loaded on the mobile carrier, and the track is used to simulate the running track of the coal mining machine;
  • Step B Powering on the mobile carrier
  • Step C the mobile carrier is started, and the inertial navigation is initially aligned in a stationary state
  • Step D causing the mobile carrier to reciprocate along the track between the two ends of the track while recording the measurement data of the inertial navigation;
  • Step E Generate the running track of the mobile carrier as the data to be measured based on the measurement data, and determine whether the process has returned to step D for a predetermined number of times. If yes, proceed to step F, otherwise, return to step D;
  • Step F Evaluate the accuracy of the inertial navigation based on the data to be measured obtained through multiple measurements.
  • the running speed of the mobile carrier is between 3 meters per minute and 20 meters per minute, and the time period of each test is between 6 and 8 hours.
  • the inertial navigation is always set on the mobile carrier close to the track.
  • the mobile carrier has front wheels, rear wheels and a carrier platform, the front wheels and rear wheels can move along the track and are respectively located at the 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 arranged on the carrier platform.
  • step F is performed online or offline.
  • step F deviation calculation statistics are performed on the test data measured multiple times, and the deviation calculation statistics include the root mean square error of the overall trajectory deviation and the maximum deviation.
  • step F the starting point and the end point of the data to be measured measured multiple times are aligned respectively, and then the root mean square error and the maximum deviation of the overall trajectory deviation are statistically calculated.
  • the inertial navigation accuracy evaluation system and evaluation method of the coal mining machine of the present invention simulates the conditions and environment of the coal mining machine in the underground operation through the mutual cooperation of the mobile carrier and the fixed track, and the inertial navigation is tested for repeatability by the mobile carrier running back and forth on the fixed track, thereby obtaining multiple measurement data, and the accuracy of the inertial navigation is evaluated based on the multiple measurement data.
  • the present invention can realize the long-term slow repeatability test and repeated verification of the inertial navigation in the underground, so that the evaluation data is more accurate and reliable.
  • FIG1 is a schematic diagram of an embodiment of the inertial navigation accuracy evaluation system for a coal mining machine of the present invention, wherein a mobile carrier and a track are shown;
  • FIG2 is a schematic diagram of the mobile carrier in FIG1 on a curved section of the track;
  • FIG3 is a schematic diagram of another embodiment of the mobile carrier of the present invention in a curved section of a track
  • FIG4 is a flow chart of an embodiment of a method for evaluating the inertial navigation accuracy of a coal mining machine according to the present invention
  • FIG5 is a schematic diagram of the overall absolute deviation evaluation of the inertial navigation accuracy evaluation trajectory of the coal mining machine of the present invention.
  • FIG6 is a schematic diagram of trajectory deviation evaluation for inertial navigation accuracy evaluation of a coal mining machine according to the present invention.
  • FIG. 7 is a schematic diagram of trajectory repeatability evaluation for inertial navigation accuracy evaluation of a coal mining machine according to the present invention.
  • Figure numerals 10 - mobile carrier; 11 - front wheel; 12 - rear wheel; 13 - carrier platform; 14 - limit switch; 20 - inertial navigation; 40 - electric control box; 50 - loading position; 60 - track; 61 - limit device; A - starting point; B - real end point; B'- calculated end point; n - point position.
  • Figure 1 is a schematic diagram of an embodiment of the coal mining machine inertial navigation accuracy evaluation system of the present invention, wherein a mobile carrier is shown.
  • Figure 2 is a schematic diagram of the mobile carrier in Figure 1 on a curved section of a track;
  • Figure 3 is a schematic diagram of another embodiment of the mobile carrier of the present invention on a curved section of a track.
  • the inertial navigation accuracy evaluation system includes a mobile carrier 10, a track 60 and a host computer 50.
  • the inertial navigation 20 to be tested, an electric control box 40 and the host computer 50 are arranged on the mobile carrier 10.
  • the mobile carrier 10 is used to simulate a coal mining machine, which can reciprocate between its two ends along a track 60.
  • the inertial navigation system 20 is arranged on the mobile carrier 10. While the mobile carrier 10 reciprocates on the track 60, the inertial navigation system 20 can monitor the running track of the mobile carrier 10 and output the monitored data as measurement data.
  • the specific form of the mobile carrier 10 is not limited. As in the embodiment of Figure 2, it can be in the form of a trolley, including wheels and the carrier platform 13 carried by it, and various components such as inertial navigation 20, electric control box 40, host computer 50, etc. can be arranged on the carrier platform.
  • the trolley can walk on the track 60 through the wheels.
  • the carrier platform 13 is long, so that the distance between the front wheel 11 and the rear wheel 12 is also long, so that the inertial navigation 20 on the mobile carrier 13 slightly deviates from the track 60 on the curved section of the track 60, so that the data measured by the inertial navigation 20 on the curved section of the track 60 is slightly biased.
  • the embodiment of Figure 3 can be adopted, and the inertial navigation 20 is only set on the carrier platform 13 between the wheels to shorten the carrier platform and shorten the distance between the front and rear wheels, so that the distance between the front and rear wheels is substantially equal to the length of the inertial navigation, and the deviation of the inertial navigation 20 relative to the track 60 is reduced, thereby improving its measurement accuracy.
  • Other components such as the electric control box 40, the host computer 50, etc. can be arranged on the top of the inertial navigation system 20, or can be arranged at the front end or rear end of the mobile carrier 10, instead of being arranged in parallel with the inertial navigation system 20 between the front and rear wheels to occupy the space between the wheels.
  • the track 60 is a fixed track.
  • the fixed track in this embodiment can be reused, is easy to use and has low cost. After the experimental platform is established, it can be used repeatedly, which is convenient for repeatability testing of the inertial navigation 20, and can ensure that the evaluation line is consistent each time, so as to facilitate comparison of data from repeated tests.
  • the fixed track will standardize the test process, with low requirements for operators, which is conducive to obtaining more objective results.
  • the track 60 can be a curved track to simulate the possible undulating and curved running track of the coal mining machine when operating underground.
  • the track 60 can have high and low undulating sections, can also have left and right curved sections, and can also have high and low undulating and left and right curved sections at the same time.
  • the track 60 has a local straight section.
  • the mobile carrier 10 can reciprocate along the track 60 between the two ends of the track 60 to simulate the actual operation of the coal mining machine in the underground operation.
  • the fixed track 60 can fix the operation route of the mobile carrier 10 to reduce the influence of the operation route on the accuracy evaluation of the inertial navigation 20. Then, through the reciprocating operation of the mobile carrier 10, the inertial navigation 20 is repeatedly tested and repeatedly verified to obtain sufficient measurement data, so that the evaluation data is more accurate and reliable.
  • the fixed track 60 can also be modeled to more concretely compare the accuracy of the track measured by the inertial navigation 20.
  • the track 60 can be a single track, which has a simple structure and saves materials. By holding the track tightly with the mobile carrier 10, it can go uphill and downhill smoothly with the ups and downs of the track 60 and is not easy to roll over. In the inertial navigation accuracy evaluation of the coal mining machine, the smoother the operation of the mobile carrier 10, the more it can eliminate the influence of the shaking of the mobile carrier 10 on the evaluation results, so that the accuracy of the inertial navigation 20 can be evaluated more accurately.
  • the track 60 may also be a double track, a multi-track, etc.
  • the corresponding mobile carrier 10 may have a relatively simple structural design, which is beneficial to simplifying the manufacturing difficulty and saving costs.
  • the track 60 can be fixed by a main support rod, the upper end of which is connected to the track 60, and the lower end of which is vertically fixed to the ground.
  • a main support rod the upper end of which is connected to the track 60, and the lower end of which is vertically fixed to the ground.
  • one or two auxiliary support rods can be provided, which are cross-fixed on the main support rod to form a triangular support.
  • the high part of the track 60 can be fixed with the above-mentioned triangular support, and the low part of the track 60 can be fixed with only two support rods to save materials.
  • connection and fixing method of the above-mentioned support rods can be bolt connection, binding, rivet, welding, etc.
  • an electric control box 40 is also provided on the mobile carrier 10 for controlling the start and stop and speed of the mobile carrier 10.
  • the staff can remotely control and adjust the electric control box, or adjust it by themselves through a computer program.
  • limit devices 61 can be provided at both ends of the track 60.
  • limit switches 14 can be provided on the mobile carrier 10.
  • the limit devices 61 trigger the corresponding limit switches 14, thereby triggering the electric control box 40 to stop the mobile carrier 10 or make the mobile carrier 10 move in the opposite direction.
  • the electric control box 40 can be controlled by a control panel provided thereon, or can be remotely controlled by a mobile terminal such as a mobile phone.
  • the limit devices 61 can also be provided at the sides of both ends of the track where the limit switches 14 can be triggered.
  • the mobile carrier 10 has a front wheel 11 and a rear wheel 12, and the front wheel 11 and the rear wheel 12 can move along the track 60, so that the mobile carrier 10 runs along the track.
  • a motor can be installed on each of the front wheel 11 and the rear wheel 12, and when the mobile carrier 10 is running, the front and rear motors are turned on at the same time 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.
  • 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 hinder the movement of the mobile carrier 10 on the track 60.
  • the mobile carrier 10 may also be provided with one or more wheels of other numbers, as long as the mobile carrier 10 can be ensured to run smoothly on the track 60.
  • the mobile carrier 10 also has a carrier platform 13.
  • the front wheel 11 and the rear wheel 12 are respectively located at the front and rear ends of the carrier platform 13, and the inertial navigation 20 is arranged on the carrier platform 13, and is located between the front wheel 11 and the rear wheel 12.
  • the carrier platform 13 is recessed closely between the front wheel 11 and the rear wheel 12, which can not only reduce the length dimension of the entire mobile carrier 10, but also be closer to the track 60, and keep the mobile carrier 10 stable during operation. Therefore, the position of the inertial navigation 20 on the carrier platform 13 is also always close to the track 60, so as to ensure that the inertial navigation 20 can be as close to the track 60 as possible during the evaluation process, so that its running trajectory fits the trajectory of the track.
  • the running trajectory of the mobile carrier 10 is generated as the test data based on the measurement data, and based on the test data obtained by multiple measurements, the accuracy of the inertial navigation 20 can be evaluated by the evaluation method.
  • the evaluation can be performed online or offline, and in the actual evaluation process, it can be selected according to specific needs.
  • These calculations can be performed in the host computer; or can be performed on other computers or notebooks connected to the host computer; or part of it is performed in the host computer and part of it is performed on other computers or notebooks connected thereto, and can be intuitively displayed on the computer or notebook.
  • the time integral of the angular velocity is the angle
  • the time integral of the acceleration is the distance.
  • the route of the coal mining machine is drawn by the distance and angle. Then, the speed, distance and direction of the coal mining machine at each moment are used to draw the curve of the coal mining machine's operation to reversely infer the curve of the track.
  • the mobile carrier 10 is set to run on a fixed track at a slower speed.
  • the running speed can be between 3 meters per minute and 20 meters per minute to evaluate the accuracy of the inertial navigation 20 under low speed conditions.
  • the running speed also simulates the running speed of the coal mining machine when operating underground, so the first measurement data monitored is closer to the actual situation.
  • the evaluation data can more accurately reflect the accuracy of the inertial navigation 20, which is convenient for R&D personnel to debug the inertial navigation 20.
  • the time period of each test of the coal mining machine inertial navigation accuracy evaluation system can be between 6 and 8 hours to simulate the operating time of a real underground coal mining machine, that is, the time when the coal miners change shifts and lose power.
  • the coal mining machine inertial navigation accuracy evaluation system of the present invention can perform slow and repeated tests for a long time, and perform repeated verification while simulating the coal mining machine operating underground, so that the evaluation data is more accurate and reliable.
  • the test time can be selected according to the specific evaluation content, and any time between 0 and 8 hours can be selected.
  • the inertial navigation accuracy evaluation system also includes a host computer 50, which can be used to receive and process measurement data from the inertial navigation 20, and generate a running trajectory of the mobile carrier 10 as test data based on the measurement data, and evaluate the accuracy of the inertial navigation 20 based on the test data obtained from multiple measurements.
  • a host computer 50 which can be used to receive and process measurement data from the inertial navigation 20, and generate a running trajectory of the mobile carrier 10 as test data based on the measurement data, and evaluate the accuracy of the inertial navigation 20 based on the test data obtained from multiple measurements.
  • the host computer 50 can be disposed on the mobile carrier 10 as shown in the embodiment of the figure, and directly connected to the inertial navigation system 20 disposed on the mobile carrier 10 to display the running trajectory curve of the mobile carrier 10 generated by the measurement data of the inertial navigation system 20 .
  • the host computer 50 can also be remotely arranged relative to the mobile carrier 10 to remotely observe the operation of the mobile carrier 10 monitored by the inertial navigation system 20, and evaluate the accuracy of the inertial navigation system 20 based on the measured data and the reference data.
  • the host computer 50 can be a computer or a mobile device.
  • the present invention further provides a coal mining machine inertial navigation accuracy evaluation method.
  • FIG4 is a flow chart of an embodiment of the coal mining machine inertial navigation accuracy evaluation method of the present invention. Since the inertial navigation accuracy evaluation method of this embodiment adopts the above-mentioned inertial navigation accuracy evaluation system, it also has all the advantages of the above-mentioned evaluation system.
  • the inertial navigation accuracy evaluation method of this embodiment includes the following steps:
  • Step A Set up a mobile carrier 10 and a fixed track 60, and the mobile carrier 10 can reciprocate along the track 60 between the two ends of the track 60.
  • the mobile carrier 10 is used to simulate a coal mining machine.
  • the limit switch 14 of the mobile carrier 10 touches the limit device 61 located at the two ends of the track 60, the electric control box 40 is triggered to stop the mobile carrier 10.
  • the evaluation personnel can send a signal to make the mobile carrier 10 move in the opposite direction, or the electric control box 40 automatically sends a signal to make the mobile carrier 10 move in the opposite direction.
  • the reciprocating movement of the mobile carrier 10 can realize the repeatability test and repeated verification of the inertial navigation accuracy, so as to obtain more reliable evaluation data.
  • the inertial navigation system 20 to be tested is loaded on the mobile carrier 10, and the track 60 is used to simulate the running track of the coal mining machine.
  • the carrier platform 13 of the mobile carrier 10 is recessed between the front wheel 11 and the rear wheel 12 (as shown in FIG. 1 ). This structure of the carrier platform 13 is closer to the track 60, and the inertial navigation system 20 is arranged on the carrier platform 13. Therefore, compared with the case where the carrier platform 13 is not recessed, the inertial navigation system 20 is always close to the track 60, and can be monitored more accurately.
  • Step B Power on the mobile carrier 10 .
  • Step C Start the mobile carrier 10 and perform initial alignment on the inertial navigation system 20 in a stationary state.
  • Step D The mobile carrier 10 reciprocates along the track 60 between the two ends of the track 60.
  • the host computer 50 records the data of the inertial navigation 20 as the data to be tested.
  • the mobile carrier 10 reciprocates on the track 60 so that the inertial navigation system 20 performs a repeatability test, thereby obtaining multiple measurement data.
  • the running speed of the mobile carrier 10 is between 3 meters per minute and 20 meters per minute, and the time period of each test is between 6 and 8 hours to simulate the actual running speed and working time of the coal mining machine in the mine.
  • the test time can be selected according to the specific evaluation content, and any time between 0 and 8 hours can be selected.
  • Step E Generate the running track of the mobile carrier 10 as the data to be measured based on the measurement data, and determine whether it has returned to step D for a predetermined number of times. If so, proceed to step F, otherwise return to step D.
  • the predetermined number of times should be greater than two times, and can be set according to specific circumstances in practical applications. Since a fixed track can achieve repeatability testing, the more predetermined times are set, the more measurement data are obtained, and the more accurately the accuracy of the inertial navigation 20 can be compared and evaluated.
  • Step F The host computer 50 evaluates the accuracy of the inertial navigation 20 based on multiple test data.
  • the evaluation of the host computer 50 can be performed online or offline, that is, the evaluation can be performed while measuring or the data can be stored during measurement and then evaluated after the measurement. In the actual evaluation process, the selection can be made according to specific needs.
  • the evaluation method can be divided into trajectory overall absolute deviation evaluation, trajectory deviation evaluation and trajectory repeatability evaluation.
  • Figure 5 is a schematic diagram of the overall absolute deviation evaluation of the inertial navigation accuracy evaluation trajectory of the coal mining machine of the present invention.
  • the deviation calculation statistics are performed on all trajectory points n of the test data AB' segment and the reference data AB segment, and the root mean square error and the maximum deviation at all points n are counted.
  • This method strictly synchronizes the time between the test data AB' segment and the reference data AB segment.
  • the overall absolute deviation evaluation of the trajectory not only includes the integral cumulative error from the starting point A to the real end point B and the calculated end point B', but also includes the overall rotation deviation caused by the initial alignment heading error at the starting point A.
  • Fig. 6 is a schematic diagram of trajectory deviation evaluation for inertial navigation accuracy evaluation of coal mining machine of the present invention.
  • trajectory deviation evaluation it is necessary to align the starting point A and the end points B and B' of the test data with the reference data respectively, and then count the root mean square error and the maximum deviation at all points n.
  • the test data of this method are strictly time synchronized with the reference data. It should be noted that the deviation error of the trajectory is only related to the cumulative error of the integral solution of the test data and the reference data from the starting point to the end point.
  • FIG7 is a schematic diagram of the trajectory repeatability evaluation of the inertial navigation accuracy evaluation of the coal mining machine of the present invention.
  • the mobile carrier 10 is required to run back and forth on the fixed track 60.
  • the trajectory solved each time the mobile carrier 10 runs is recorded, and the root mean square error and the maximum deviation of each point of each trajectory relative to the corresponding points of the other trajectories are counted.
  • the deviation error of the trajectory is only related to the cumulative error of the integral solution of the test data and the reference data from the starting point A to the end point B, and has nothing to do with the initial alignment error.
  • the evaluation method performs deviation calculation statistics on the test data measured twice by the inertial navigation 20, and the deviation calculation statistics include the root mean square error and the maximum deviation of the overall trajectory deviation.
  • the deviation calculation statistics can be performed on the inertial navigation 20 measurement data for multiple times to repeat the verification to make the evaluation data more accurate and reliable.
  • n, n-1, n-2, n-3, n-4, and n-5 represent different measurement points, respectively.
  • the coal mining machine inertial navigation accuracy evaluation system of the present invention simulates the conditions and environment of the coal mining machine operating underground by the mutual cooperation of the mobile carrier 10 and the fixed track 60.
  • the mobile carrier 10 reciprocates on the fixed track 60 to perform repeatable testing on the inertial navigation 20, thereby obtaining multiple measurement data.
  • the accuracy of the inertial navigation 20 is evaluated based on the evaluation of the multiple measurement data, so as to facilitate subsequent research and development and debugging by R&D personnel.
  • the present invention also provides an accuracy evaluation method based on the above-mentioned coal mining machine inertial navigation accuracy evaluation system, through which the evaluation value can be obtained more accurately.
  • the present invention can realize long-term slow repeatability testing of the inertial navigation 20, and perform repeated verification while simulating the actual underground operation of the coal mining machine, so as to make the evaluation data more accurate and reliable.

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Abstract

An inertial navigation accuracy evaluation system and method for a coal mining machine. The inertial navigation accuracy evaluation system comprises: a moving carrier (10), an inertial navigation (20) to be evaluated being provided on the moving carrier (10), and the moving carrier (10) being also provided with an electric control box (40) for controlling the starting/stopping and speed of the moving carrier (10); a fixed track (60), the track (60) being used for simulating a running trajectory of a coal mining machine, and the moving carrier (10) being capable of reciprocatingly running along the track (60) between two ends of the track (60); and an upper computer (50), the upper computer (50) being used for receiving and processing measurement data from the inertial navigation (20), generating, on the basis of the measurement data, a running trajectory of the moving carrier (10) as data for evaluation, and evaluating the accuracy of the inertial navigation (20) on the basis of the data for evaluation obtained from multiple measurements. The evaluation system can implement long-time slow-speed repetitive testing and repeated verification of the inertial navigation, so as to obtain data from multiple measurements for evaluation, so that the evaluation data is more accurate and reliable.

Description

采煤机惯性导航精度测评***及其精度测评方法Coal mining machine inertial navigation accuracy evaluation system and its accuracy evaluation method 技术领域Technical Field
本发明涉及惯性导航技术领域；具体地，本发明涉及采煤机惯性导航精度测评***及其精度测评方法。The present invention relates to the technical field of inertial navigation; in particular, the present invention relates to a coal mining machine inertial navigation accuracy evaluation system and an accuracy evaluation method thereof.
背景技术Background technique
惯性导航技术是无源导航，导航设备不需要向外界发射任何信号，也不需要实时接收外界信号，只需要给导航***提供一次初始的位置，导航***就可以在任何外界环境下（比如振动、冲击、湿热、雾气、粉尘等）连续测量位置和姿态，无惧地形的起伏和倾斜，并根据需要按照要求进行信息输出。Inertial navigation technology is passive navigation. The navigation equipment does not need to transmit any signals to the outside world, nor does it need to receive external signals in real time. It only needs to provide the navigation system with an initial position. The navigation system can then continuously measure position and attitude in any external environment (such as vibration, impact, humidity, heat, fog, dust, etc.), regardless of the ups and downs and inclination of the terrain, and output information as needed and as required.
惯性导航***以其可以提供导航信息的全面性和自主性，使其在生产作业环境非常恶劣的矿井中采煤机定位上的应用成为可能。采煤机在井下作业需要铺设轨道，在实际采煤过程中，采煤机采煤时进刀需要一定的角度，因此需要对轨道进行调整，但实际的调整会有误差。由于采煤的工作面很长，该误差会不断累积，使得轨道弯曲不平。采煤机惯性导航通过测算采煤机的运行轨迹，能够反推实际轨道的曲线，从而对轨道进行补偿，以维持轨道的在可接受的范围内保持动态平衡。The inertial navigation system can provide comprehensive and autonomous navigation information, making it possible to use it in the positioning of coal mining machines in mines with very harsh production and operation environments. Coal mining machines need to lay tracks when working underground. In the actual coal mining process, the coal mining machine needs to feed at a certain angle when mining, so the track needs to be adjusted, but the actual adjustment will have errors. Since the coal mining working surface is very long, the error will continue to accumulate, making the track curved and uneven. The inertial navigation of the coal mining machine can reverse the curve of the actual track by measuring the running trajectory of the coal mining machine, thereby compensating the track to maintain the dynamic balance of the track within an acceptable range.
因此，在采煤机惯性导航的精度对于煤矿的开采显得尤为重要。目前现有的惯性导航的精度测评中，通常采用如《硅谷》2013年第05期《惯性导航***的精度测试方法》中的飞车或跑车试验来进行，该试验通过GPS作为测试基准。但该试验方法由于测试线路不固定，重复试验时会对于试验结果产生影响，测得的数据没有可比性，因此不能以此来测评采煤机惯性导航的精度。Therefore, the accuracy of inertial navigation of coal mining machines is particularly important for coal mining. In the current existing inertial navigation accuracy evaluation, the flying car or sports car test is usually used, such as the "Accuracy Test Method of Inertial Navigation System" in "Silicon Valley" Issue 05, 2013. This test uses GPS as the test benchmark. However, since the test route is not fixed, repeated tests will affect the test results, and the measured data are not comparable, so it cannot be used to evaluate the accuracy of inertial navigation of coal mining machines.
因此，亟需一种适用于采煤机惯性导航的精度测评***。Therefore, there is an urgent need for an accuracy evaluation system suitable for inertial navigation of coal mining machines.
发明内容Summary of the invention
有鉴于此，本发明提供了采煤机惯性导航精度测评***及其精度测评方法，从而解决或者至少缓解了现有技术中存在的上述问题和其它方面的问题中的一个或多个。In view of this, the present invention provides a coal mining machine inertial navigation accuracy evaluation system and an accuracy evaluation method thereof, thereby solving or at least alleviating one or more of the above-mentioned problems and other problems existing in the prior art.
为了实现前述目的，本发明的第一方面提供了一种采煤机惯性导航精度测评***，其中，所述惯性导航精度测评***包括：In order to achieve the above-mentioned object, the first aspect of the present invention provides a coal mining machine inertial navigation accuracy evaluation system, wherein the inertial navigation accuracy evaluation system comprises:
移动载体，待测的惯性导航设置在所述移动载体上，并且在所述移动载体上还设置有用于控制所述移动载体的启停和速度的电控箱；A mobile carrier, the inertial navigation to be tested is arranged on the mobile carrier, and an electric control box for controlling the start, stop and speed of the mobile carrier is also arranged on the mobile carrier;
固定的轨道，所述轨道用以模拟采煤机的运行轨迹，所述移动载体能够在所述轨道的两端之间沿所述轨道往复运行；以及A fixed track, the track is used to simulate the running track of the coal mining machine, and the mobile carrier can reciprocate along the track between the two ends of the track; and
上位机，所述上位机用于接收和处理来自所述惯性导航的测量数据，并且基于所述测量数据生成所述移动载体的运行轨迹作为待测数据，以及基于多次测量得到的所述待测数据评估所述惯性导航的精度。A host computer is used to receive and process the measurement data from the inertial navigation, and to generate the running trajectory of the mobile carrier as the data to be measured based on the measurement data, and to evaluate the accuracy of the inertial navigation based on the data to be measured obtained by multiple measurements.
在如前所述的惯性导航精度测评***中，可选地，所述上位机设置在所述移动载体上或者相对于所述移动载体远程设置。In the inertial navigation accuracy evaluation system as described above, optionally, the host computer is arranged on the mobile carrier or is remotely arranged relative to the mobile carrier.
在如前所述的惯性导航精度测评***中，可选地，所述惯性导航的位置始终贴近所述轨道。In the inertial navigation accuracy evaluation system as described above, optionally, the position of the inertial navigation is always close to the track.
在如前所述的惯性导航精度测评***中，可选地，所述移动载体具有前轮、后轮及载体平台，所述前轮和后轮能够沿所述轨道行进并且分别位于所述载体平台的前后两端处，所述载体平台紧邻地凹入在所述前轮和所述后轮之间，并且所述惯性导航设置在所述载体平台上。In the inertial navigation accuracy evaluation system as described above, optionally, the mobile carrier has front wheels, rear wheels and a carrier platform, the front wheels and rear wheels can move along the track and are respectively located at the 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 arranged on the carrier platform.
在如前所述的惯性导航精度测评***中，可选地，所述轨道的两端处均设置有限位装置，在所述移动载体上设置有限位开关，当所述移动载体运行到所述轨道的两端时，所述限位装置触发所述限位开关从而触发所述电控箱停止所述移动载体或者使所述移动载体反向移动。In the inertial navigation accuracy evaluation system as described above, optionally, limit devices are provided at both ends of the track, and limit switches are provided on the mobile carrier. When the mobile carrier runs to both ends of the track, the limit device triggers the limit switch, thereby triggering the electric control box to stop the mobile carrier or make the mobile carrier move in the opposite direction.
为了实现前述目的，本发明的第二方面提供了一种采煤机惯性导航精度测评方法，其中，所述惯导精度测评方法包括以下步骤：In order to achieve the above-mentioned object, the second aspect of the present invention provides a method for evaluating the inertial navigation accuracy of a coal mining machine, wherein the inertial navigation accuracy evaluation method comprises the following steps:
步骤A：设置移动载体及固定的轨道，所述移动载体能够在所述轨道的两端之间沿所述轨道往复运行，在所述移动载体上装载有待测的惯性导航，所述轨道用于模拟采煤机的运行轨迹；Step A: a mobile carrier and a fixed track are provided, wherein the mobile carrier can reciprocate along the track between two ends of the track, an inertial navigation to be tested is loaded on the mobile carrier, and the track is used to simulate the running track of the coal mining machine;
步骤B：所述移动载体上电；Step B: Powering on the mobile carrier;
步骤C：所述移动载体启动，并且所述惯性导航在静止状态进行初始对准；Step C: the mobile carrier is started, and the inertial navigation is initially aligned in a stationary state;
步骤D：使所述移动载体在所述轨道的两端之间沿所述轨道往复运行，同时记录所述惯性导航的测量数据；Step D: causing the mobile carrier to reciprocate along the track between the two ends of the track while recording the measurement data of the inertial navigation;
步骤E：基于所述测量数据生成所述移动载体的运行轨迹作为待测数据，判断是否已经返回步骤D预定次数，是则前进到步骤F，否则返回到步骤D；Step E: Generate the running track of the mobile carrier as the data to be measured based on the measurement data, and determine whether the process has returned to step D for a predetermined number of times. If yes, proceed to step F, otherwise, return to step D;
步骤F：基于多次测量的所述待测数据评估所述惯性导航的精度。Step F: Evaluate the accuracy of the inertial navigation based on the data to be measured obtained through multiple measurements.
在如前所述的惯性导航精度测评方法中，可选地，所述移动载体的运行速度在3米每分钟至20米每分钟之间，每次测试的时间周期在6至8小时之间。In the inertial navigation accuracy evaluation method as described above, optionally, the running speed of the mobile carrier is between 3 meters per minute and 20 meters per minute, and the time period of each test is between 6 and 8 hours.
在如前所述的惯性导航精度测评方法中，可选地，所述惯性导航始终贴近所述轨道设置于所述移动载体。In the inertial navigation accuracy evaluation method as described above, optionally, the inertial navigation is always set on the mobile carrier close to the track.
在如前所述的惯性导航精度测评方法中，可选地，所述移动载体具有前轮、后轮及载体平台，所述前轮和后轮能够沿所述轨道行进并且分别位于所述载体平台的前后两端处，所述载体平台紧邻地凹入在所述前轮和所述后轮之间，并且所述惯性导航设置在所述载体平台上。In the inertial navigation accuracy evaluation method as described above, optionally, the mobile carrier has front wheels, rear wheels and a carrier platform, the front wheels and rear wheels can move along the track and are respectively located at the 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 arranged on the carrier platform.
在如前所述的惯性导航精度测评方法中，可选地，所述步骤F为在线或者离线进行。In the inertial navigation accuracy evaluation method as described above, optionally, step F is performed online or offline.
在如前所述的惯性导航精度测评方法中，可选地，在所述步骤F中，对多次测量的所述待测数据进行偏差计算统计，所述偏差计算统计包括整体轨迹偏差的均方根误差和偏差最大值。In the inertial navigation accuracy evaluation method as described above, optionally, in the step F, deviation calculation statistics are performed on the test data measured multiple times, and the deviation calculation statistics include the root mean square error of the overall trajectory deviation and the maximum deviation.
在如前所述的惯性导航精度测评方法中，可选地，在所述步骤F中，将多次测量的所述待测数据的起点和终点分别对齐，然后统计包括整体轨迹偏差的均方根误差和偏差最大值。In the inertial navigation accuracy evaluation method as described above, optionally, in the step F, the starting point and the end point of the data to be measured measured multiple times are aligned respectively, and then the root mean square error and the maximum deviation of the overall trajectory deviation are statistically calculated.
本发明的采煤机惯性导航精度测评***及测评方法，通过移动载体、固定的轨道的相互配合模拟采煤机在井下作业的状况与环境，通过移动载体在固定的轨道上往复运行，使惯性导航进行重复性测试，从而得到多次测量数据，根据对该多次测量的数据进行评估，以测评惯性导航的精度。本发明可以实现惯性导航的长时间井下慢速重复性测试、重复验证，使测评数据更精确、可靠。The inertial navigation accuracy evaluation system and evaluation method of the coal mining machine of the present invention simulates the conditions and environment of the coal mining machine in the underground operation through the mutual cooperation of the mobile carrier and the fixed track, and the inertial navigation is tested for repeatability by the mobile carrier running back and forth on the fixed track, thereby obtaining multiple measurement data, and the accuracy of the inertial navigation is evaluated based on the multiple measurement data. The present invention can realize the long-term slow repeatability test and repeated verification of the inertial navigation in the underground, so that the evaluation data is more accurate and reliable.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
参照附图，本发明的公开内容将更加显然。应当了解，这些附图仅仅用于说明的目的，而并非意在对本发明的保护范围构成限制。图中：The disclosure of the present invention will become more apparent with reference to the accompanying drawings. It should be understood that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In the drawings:
图1为本发明的采煤机惯性导航精度测评***的一个实施例的示意图，其中示出了移动载体及轨道；FIG1 is a schematic diagram of an embodiment of the inertial navigation accuracy evaluation system for a coal mining machine of the present invention, wherein a mobile carrier and a track are shown;
图2为图1中移动载体在轨道的弯曲段的示意图；FIG2 is a schematic diagram of the mobile carrier in FIG1 on a curved section of the track;
图3为本发明的移动载体的另一实施例在轨道的弯曲段的示意图；FIG3 is a schematic diagram of another embodiment of the mobile carrier of the present invention in a curved section of a track;
图4为本发明的采煤机惯性导航精度测评方法的一个实施例的流程图；FIG4 is a flow chart of an embodiment of a method for evaluating the inertial navigation accuracy of a coal mining machine according to the present invention;
图5为本发明的采煤机惯性导航精度测评轨迹整体绝对偏差评估示意图；FIG5 is a schematic diagram of the overall absolute deviation evaluation of the inertial navigation accuracy evaluation trajectory of the coal mining machine of the present invention;
图6为本发明的采煤机惯性导航精度测评轨迹偏离度评估示意图；以及FIG6 is a schematic diagram of trajectory deviation evaluation for inertial navigation accuracy evaluation of a coal mining machine according to the present invention; and
图7为本发明的采煤机惯性导航精度测评轨迹重复度评估示意图。FIG. 7 is a schematic diagram of trajectory repeatability evaluation for inertial navigation accuracy evaluation of a coal mining machine according to the present invention.
附图标记：10-移动载体；11-前轮；12-后轮；13-载体平台；14-限位开关；20-惯性导航；40-电控箱；50-上机位；60-轨道；61-限位装置；A-起点；B-真实终点；B’-计算终点；n-点位。Figure numerals: 10 - mobile carrier; 11 - front wheel; 12 - rear wheel; 13 - carrier platform; 14 - limit switch; 20 - inertial navigation; 40 - electric control box; 50 - loading position; 60 - track; 61 - limit device; A - starting point; B - real end point; B'- calculated end point; n - point position.
具体实施方式Detailed ways
参照附图和具体实施例，下面将以示例方式来说明根据本发明的采煤机惯性导航精度测评***及其测评方法。此外，对于在本文提及的实施例中予以描述或隐含的任意单个技术特征，或者被显示或隐含在各附图中的任意单个技术特征，本发明仍然允许在这些技术特征（或其等同物）之间继续进行任意组合或者删减而不存在任何的技术障碍，从而应当认为这些根据本发明的更多实施例也是在本文的记载范围之内。With reference to the accompanying drawings and specific embodiments, the coal mining machine inertial navigation accuracy evaluation system and its evaluation method according to the present invention will be described below by way of example. In addition, for any single technical feature described or implied in the embodiments mentioned in this article, or any single technical feature displayed or implied in the drawings, the present invention still allows any combination or deletion between these technical features (or their equivalents) without any technical obstacles, so it should be considered that these more embodiments according to the present invention are also within the scope of the description of this article.
还需要说明的是，术语“上”、“下”、“前”、“后”、“高”、“低”等指示的方位或位置关系为基于附图所示即采煤机惯性导航精度测评***中移动载体的相对上下、前后、高低方向的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。在本公开的描述中，“多个”的含义是至少两个，例如两个、三个或更多等，除非另有明确具体的限定。It should also be noted that the terms "up", "down", "front", "back", "high", "low" and the like indicate positions or positional relationships based on the relative up-down, front-back, high-low directions of the mobile carrier in the coal mining machine inertial navigation accuracy evaluation system shown in the attached drawings, which are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In the description of the present disclosure, "multiple" means at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.
图1为本发明的采煤机惯性导航精度测评***的一个实施例的示意图，其中示出了移动载体。图2为图1中移动载体在轨道的弯曲段的示意图；图3为本发明的移动载体的另一实施例在轨道的弯曲段的示意图。Figure 1 is a schematic diagram of an embodiment of the coal mining machine inertial navigation accuracy evaluation system of the present invention, wherein a mobile carrier is shown. Figure 2 is a schematic diagram of the mobile carrier in Figure 1 on a curved section of a track; Figure 3 is a schematic diagram of another embodiment of the mobile carrier of the present invention on a curved section of a track.
从图中可以看出，所述惯性导航精度测评***包括移动载体10、轨道60以及上位机50。在移动载体10上设置待测的惯性导航20、电控箱40及所述上位机50。As can be seen from the figure, the inertial navigation accuracy evaluation system includes a mobile carrier 10, a track 60 and a host computer 50. The inertial navigation 20 to be tested, an electric control box 40 and the host computer 50 are arranged on the mobile carrier 10.
所述移动载体10用以模拟采煤机，其能够沿轨道60在其两端之间往复运行。惯性导航20设置在该移动载体10上。在移动载体10往复运行于轨道60上的同时，惯性导航20能够监测该移动载体10的运行轨迹，并将所监测出的数据输出为测量数据。The mobile carrier 10 is used to simulate a coal mining machine, which can reciprocate between its two ends along a track 60. The inertial navigation system 20 is arranged on the mobile carrier 10. While the mobile carrier 10 reciprocates on the track 60, the inertial navigation system 20 can monitor the running track of the mobile carrier 10 and output the monitored data as measurement data.
移动载体10的具体形式不限。如图2的实施例中，其可以呈小车的形式，包括车轮和其所承载的载体平台13，各种部件如惯性导航20、电控箱40、上位机50等可以布置在载体平台上。小车能够通过车轮在轨道60上行走。从图2的实施例可以清楚地看出，载体平台13较长，使得前轮11与后轮12之间的距离也较长，从而使得在移动载体13上的惯性导航20在轨道60的弯曲段上略偏离轨道60，从而使得惯性导航20在轨道60的弯曲段上测得的数据略有偏差。为了解决上述问题，可以采用如图3实施例，仅将惯性导航20设置在车轮之间的载体平台13上，以缩短载体平台、缩短前后车轮之间的距离，使前后车轮之间的距离基本上等于惯性导航的长度，减小惯性导航20相对于轨道60的偏离，从而提高其测量精度。其它部件例如电控箱40、上位机50等可以设置在惯性导航20顶上，或者可以设置在移动载体10的前端或后端，而不与惯性导航20并列设置在前后车轮之间占用车轮之间的空间。The specific form of the mobile carrier 10 is not limited. As in the embodiment of Figure 2, it can be in the form of a trolley, including wheels and the carrier platform 13 carried by it, and various components such as inertial navigation 20, electric control box 40, host computer 50, etc. can be arranged on the carrier platform. The trolley can walk on the track 60 through the wheels. It can be clearly seen from the embodiment of Figure 2 that the carrier platform 13 is long, so that the distance between the front wheel 11 and the rear wheel 12 is also long, so that the inertial navigation 20 on the mobile carrier 13 slightly deviates from the track 60 on the curved section of the track 60, so that the data measured by the inertial navigation 20 on the curved section of the track 60 is slightly biased. In order to solve the above problem, the embodiment of Figure 3 can be adopted, and the inertial navigation 20 is only set on the carrier platform 13 between the wheels to shorten the carrier platform and shorten the distance between the front and rear wheels, so that the distance between the front and rear wheels is substantially equal to the length of the inertial navigation, and the deviation of the inertial navigation 20 relative to the track 60 is reduced, thereby improving its measurement accuracy. Other components such as the electric control box 40, the host computer 50, etc. can be arranged on the top of the inertial navigation system 20, or can be arranged at the front end or rear end of the mobile carrier 10, instead of being arranged in parallel with the inertial navigation system 20 between the front and rear wheels to occupy the space between the wheels.
根据图1的实施例中，轨道60为固定的轨道。相对于非固定轨道难以实现在相同的情况下进行重复性测试，本实施例中的固定轨道，则可以重复利用，使用方便且成本低。在建立起实验平台后可以重复多次使用，方便惯性导航20重复性测试，而且能够确保每次测评线路一致，以便于对重复测试的数据进行对比。According to the embodiment of FIG. 1 , the track 60 is a fixed track. Compared with a non-fixed track, which is difficult to implement repeatability testing under the same conditions, the fixed track in this embodiment can be reused, is easy to use and has low cost. After the experimental platform is established, it can be used repeatedly, which is convenient for repeatability testing of the inertial navigation 20, and can ensure that the evaluation line is consistent each time, so as to facilitate comparison of data from repeated tests.
与其他惯性导航精度测评***相比，避免了不同操作人员操作例如RTK-GNSS移动站、棱镜或标杆组合导航***等的基准测绘装置的水平不同导致的误差波动。在本实施例中，固定轨道将把测试的过程标准化，对操作人员要求低，有利于得出更加客观的结果。Compared with other inertial navigation accuracy evaluation systems, the error fluctuation caused by different operators' different levels of operation of benchmark surveying devices such as RTK-GNSS mobile stations, prisms or benchmark integrated navigation systems is avoided. In this embodiment, the fixed track will standardize the test process, with low requirements for operators, which is conducive to obtaining more objective results.
在不同的实施例中，其可以为弯的轨道，用以模拟采煤机在井下作业时所可能的起伏、弯曲的运行轨迹。从图中可以看出，该轨道60可以具有高低起伏段，也可以具有左右弯曲段，并且还可以同时具有高低起伏和左右弯曲的段。在此，并不排除轨道60具有局部的直段。In different embodiments, it can be a curved track to simulate the possible undulating and curved running track of the coal mining machine when operating underground. As can be seen from the figure, the track 60 can have high and low undulating sections, can also have left and right curved sections, and can also have high and low undulating and left and right curved sections at the same time. Here, it is not excluded that the track 60 has a local straight section.
该移动载体10能够在该轨道60的两端之间沿轨道60往复运行，用以模拟采煤机在井下作业的实际运行状况。该固定的轨道60能够固定移动载体10的运行路线，以减少运行路线对惯性导航20精度测评的影响，再通过移动载体10的往复运行，对惯性导航20的进行反复性测试、重复验证，以得到足够的测量数据，使得测评数据更精确、可靠。The mobile carrier 10 can reciprocate along the track 60 between the two ends of the track 60 to simulate the actual operation of the coal mining machine in the underground operation. The fixed track 60 can fix the operation route of the mobile carrier 10 to reduce the influence of the operation route on the accuracy evaluation of the inertial navigation 20. Then, through the reciprocating operation of the mobile carrier 10, the inertial navigation 20 is repeatedly tested and repeatedly verified to obtain sufficient measurement data, so that the evaluation data is more accurate and reliable.
在实际运用中，还可以对固定轨道60进行建模，可以更具象地对比惯性导航20所测出的轨迹的精确度。并且该轨道60可以为单轨道，该单轨道结构简单、材料节省，通过移动载体10抱紧轨道，其能够随着该轨道60的高低起伏平稳地上坡和下坡，不易侧翻。在采煤机惯性导航精度测评中，移动载体10运行越平稳，就越能排除移动载体10的晃动对于测评结果的影响，从而能够更精确测评出惯性导航20的精度。In actual use, the fixed track 60 can also be modeled to more concretely compare the accuracy of the track measured by the inertial navigation 20. In addition, the track 60 can be a single track, which has a simple structure and saves materials. By holding the track tightly with the mobile carrier 10, it can go uphill and downhill smoothly with the ups and downs of the track 60 and is not easy to roll over. In the inertial navigation accuracy evaluation of the coal mining machine, the smoother the operation of the mobile carrier 10, the more it can eliminate the influence of the shaking of the mobile carrier 10 on the evaluation results, so that the accuracy of the inertial navigation 20 can be evaluated more accurately.
在可选的实施例中，该轨道60也可以为双轨道、多轨道等。在一些情况下，相应的移动载体10可以具有相对简单的结构设计，有益于简化制造难度、节省成本。In an optional embodiment, the track 60 may also be a double track, a multi-track, etc. In some cases, the corresponding mobile carrier 10 may have a relatively simple structural design, which is beneficial to simplifying the manufacturing difficulty and saving costs.
在可选的实施例中，该轨道60可以由主支撑杆固定，该主支撑杆的上端连接该轨道60，该主支撑杆的下端垂直固定在地面上。为了让轨道60更稳固地固定在地面上，可以再设置一根或两根辅支撑杆，交叉固定在主支撑杆上，形成三角支撑。在具体运用中，该轨道60的高处可以采用上述三角支撑固定，在该轨道60的低处，可以仅采用两根支撑杆固定，以节省材料。In an optional embodiment, the track 60 can be fixed by a main support rod, the upper end of which is connected to the track 60, and the lower end of which is vertically fixed to the ground. In order to make the track 60 more firmly fixed to the ground, one or two auxiliary support rods can be provided, which are cross-fixed on the main support rod to form a triangular support. In specific applications, the high part of the track 60 can be fixed with the above-mentioned triangular support, and the low part of the track 60 can be fixed with only two support rods to save materials.
可选地，在实际运用中也可以采用更多根支撑杆进行固定，该些支撑杆相互形成夹角，使轨道60能更牢固地固定在地面上。需要说明的是，上述的支撑杆的连接和固定方式可以为螺栓连接，也可以为绑定、铆钉、焊接等。Optionally, in actual use, more support rods may be used for fixing, and the support rods form an angle with each other so that the track 60 can be more firmly fixed on the ground. It should be noted that the connection and fixing method of the above-mentioned support rods can be bolt connection, binding, rivet, welding, etc.
在图1的实施例中，如前所述，在移动载体10上还设置有电控箱40，用于控制移动载体10的启停和速度。工作人员可以对该电控箱进行远程控制、远程调节，或者通过计算机程序进行自行调节。In the embodiment of Fig. 1, as mentioned above, an electric control box 40 is also provided on the mobile carrier 10 for controlling the start and stop and speed of the mobile carrier 10. The staff can remotely control and adjust the electric control box, or adjust it by themselves through a computer program.
为了配合电控箱40的操作，轨道60的两端处可以均设置有限位装置61。相对应地，移动载体10上可以设置有限位开关14。当移动载体10运行到轨道60的两端时，限位装置61触发相应的限位开关14，从而触发电控箱40停止该移动载体10或者使该移动载体10反向移动。该电控箱40可以通过设置在其上的控制面板进行控制，也可以通过例如手机等移动终端进行远程控制。在其它实施例中，限位装置61也可以设置在轨道两端的侧旁能够触发限位开关14处。In order to cooperate with the operation of the electric control box 40, limit devices 61 can be provided at both ends of the track 60. Correspondingly, limit switches 14 can be provided on the mobile carrier 10. When the mobile carrier 10 runs to both ends of the track 60, the limit devices 61 trigger the corresponding limit switches 14, thereby triggering the electric control box 40 to stop the mobile carrier 10 or make the mobile carrier 10 move in the opposite direction. The electric control box 40 can be controlled by a control panel provided thereon, or can be remotely controlled by a mobile terminal such as a mobile phone. In other embodiments, the limit devices 61 can also be provided at the sides of both ends of the track where the limit switches 14 can be triggered.
从图中还可以看出，该移动载体10具有前轮11、后轮12，所述前轮11和所述后轮12能够沿轨道60行进，从而使得移动载体10沿轨道运行。在可选的实施例中，可以在前轮11和后轮12上各自分别安装电机，该移动载体10运行时，前后两个电机同时开启引导前轮11和后轮12转动，以保证该移动载体10运行的速度稳定。It can also be seen from the figure that the mobile carrier 10 has a front wheel 11 and a rear wheel 12, and the front wheel 11 and the rear wheel 12 can move along the track 60, so that the mobile carrier 10 runs along the track. In an optional embodiment, a motor can be installed on each of the front wheel 11 and the rear wheel 12, and when the mobile carrier 10 is running, the front and rear motors are turned on at the same time 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.
在具体实施过程中，在该移动载体10上还可以进一步安装轮速编码器，该轮速编码器可以实时监控移动载体10的瞬时速度。该轮速编码器可以采用电池进行无源供电，从而不会对移动载体10在轨道60运行产生阻碍。在可选的实施例中，移动载体10也可以设置其它数量的一个或多个轮子，只要能够确保移动载体10在轨道60上平稳地运行即可。In the specific implementation process, 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 hinder the movement of the mobile carrier 10 on the track 60. In an optional embodiment, the mobile carrier 10 may also be provided with one or more wheels of other numbers, as long as the mobile carrier 10 can be ensured to run smoothly on the track 60.
根据图1的实施例，该移动载体10还具有载体平台13。如图中所示，所述前轮11和所述后轮12分别位于载体平台13的前后两端处，惯性导航20设置在该载体平台13上，位于前轮11和后轮12之间。该载体平台13紧邻地凹入在前轮11和后轮12之间，既能够缩小整个移动载体10的长度尺寸，又能够更加贴近轨道60，并且在该移动载体10运行过程中保持平稳。因此，在该载体平台13上的惯性导航20的位置也始终贴近轨道60，以确保惯性导航20在测评过程中能够尽量贴近轨道60、使其运行轨迹贴合轨道的轨迹。According to the embodiment of FIG. 1 , the mobile carrier 10 also has a carrier platform 13. As shown in the figure, the front wheel 11 and the rear wheel 12 are respectively located at the front and rear ends of the carrier platform 13, and the inertial navigation 20 is arranged on the carrier platform 13, and is located between the front wheel 11 and the rear wheel 12. The carrier platform 13 is recessed closely between the front wheel 11 and the rear wheel 12, which can not only reduce the length dimension of the entire mobile carrier 10, but also be closer to the track 60, and keep the mobile carrier 10 stable during operation. Therefore, the position of the inertial navigation 20 on the carrier platform 13 is also always close to the track 60, so as to ensure that the inertial navigation 20 can be as close to the track 60 as possible during the evaluation process, so that its running trajectory fits the trajectory of the track.
根据该实施例，基于测量数据生成移动载体10的运行轨迹作为待测数据，并且基于多次测量得到的待测数据，通过评估方法可以测评惯性导航20的精度。该评估测评可以为在线或者离线进行，在实际测评过程中，可以根据具体需要进行选择。这些计算可以在上位机中进行；或者可以在与上位机连接的其它计算机或笔记本上进行；或者部分在上位机中进行部分在与其连接的其它计算机或笔记本上进行，并且可以在计算机或笔记本上进行直观的显示。According to this embodiment, the running trajectory of the mobile carrier 10 is generated as the test data based on the measurement data, and based on the test data obtained by multiple measurements, the accuracy of the inertial navigation 20 can be evaluated by the evaluation method. The evaluation can be performed online or offline, and in the actual evaluation process, it can be selected according to specific needs. These calculations can be performed in the host computer; or can be performed on other computers or notebooks connected to the host computer; or part of it is performed in the host computer and part of it is performed on other computers or notebooks connected thereto, and can be intuitively displayed on the computer or notebook.
由于惯性导航的原理是测量XYZ三轴的角速度和加速度，该角速度测出来的时间积分就是角度，然后加速度测出来的时间积分是距离，通过距离和角度绘制挖煤机的行径路线。然后通过每个时刻挖煤机的速度和距离以及方向绘制出采煤机的运行的曲线来反推轨道的曲线。Since the principle of inertial navigation is to measure the angular velocity and acceleration of the XYZ axes, the time integral of the angular velocity is the angle, and the time integral of the acceleration is the distance. The route of the coal mining machine is drawn by the distance and angle. Then, the speed, distance and direction of the coal mining machine at each moment are used to draw the curve of the coal mining machine's operation to reversely infer the curve of the track.
根据惯性导航20的运算方法，可以得知移动载体10的运行速度越慢，会导致惯性导航20的精度越低。在该实施例中，为了更进一步测得惯性导航20的精度，设置移动载体10以较慢的速度在固定轨道上运行，该运行速度可以在3米每分钟至20米每分钟之间，以测评惯性导航20在低速情况下的精度。该运行速度同时也模拟了采煤机在井下作业时的运行速度，因此所监测出的第一测量数据更贴近实际情况，该测评数据能更精确地反映惯性导航20的精度，方便研发人员对惯性导航20进行调试。According to the calculation method of the inertial navigation 20, it can be known that the slower the running speed of the mobile carrier 10, the lower the accuracy of the inertial navigation 20. In this embodiment, in order to further measure the accuracy of the inertial navigation 20, the mobile carrier 10 is set to run on a fixed track at a slower speed. The running speed can be between 3 meters per minute and 20 meters per minute to evaluate the accuracy of the inertial navigation 20 under low speed conditions. The running speed also simulates the running speed of the coal mining machine when operating underground, so the first measurement data monitored is closer to the actual situation. The evaluation data can more accurately reflect the accuracy of the inertial navigation 20, which is convenient for R&D personnel to debug the inertial navigation 20.
在该实施例中，采煤机惯性导航精度测评***每次测试的时间周期可以在6至8小时之间，以模拟真实井下采煤机的运行时间，即煤矿工人换班断电的时间。并且，本发明的采煤机惯性导航精度测评***能够长时间慢速反复测试，在模拟采煤机在井下作业的同时进行重复验证，使测评数据更精确、可靠。在实际测试过程中，可以根据具体测评内容选择测试时间，可以选在0至8小时之间的任意时间。In this embodiment, the time period of each test of the coal mining machine inertial navigation accuracy evaluation system can be between 6 and 8 hours to simulate the operating time of a real underground coal mining machine, that is, the time when the coal miners change shifts and lose power. In addition, the coal mining machine inertial navigation accuracy evaluation system of the present invention can perform slow and repeated tests for a long time, and perform repeated verification while simulating the coal mining machine operating underground, so that the evaluation data is more accurate and reliable. In the actual test process, the test time can be selected according to the specific evaluation content, and any time between 0 and 8 hours can be selected.
根据图中的实施例，所述惯性导航精度测评***还包括上位机50，该上位机50可以用于接收和处理来自惯性导航20的测量数据，并且，基于测量数据生成移动载体10的运行轨迹作为待测数据，基于多次测量得到的待测数据，评估惯性导航20的精度。According to the embodiment in the figure, the inertial navigation accuracy evaluation system also includes a host computer 50, which can be used to receive and process measurement data from the inertial navigation 20, and generate a running trajectory of the mobile carrier 10 as test data based on the measurement data, and evaluate the accuracy of the inertial navigation 20 based on the test data obtained from multiple measurements.
该上位机50可以如图中实施例设置在移动载体10上，直接与设置在移动载体10上的惯性导航20连接，以显示惯性导航20的测量数据生成移动载体10的运行轨迹曲线。The host computer 50 can be disposed on the mobile carrier 10 as shown in the embodiment of the figure, and directly connected to the inertial navigation system 20 disposed on the mobile carrier 10 to display the running trajectory curve of the mobile carrier 10 generated by the measurement data of the inertial navigation system 20 .
在可选的实施例中，该上位机50也可以在相对于移动载体10远程设置，以远程观察惯性导航20所监测到的移动载体10的运行情况，并且基于待测数据和基准数据评估惯性导航20的精度。该上位机50可以为电脑，也可以为移动设备等。In an optional embodiment, the host computer 50 can also be remotely arranged relative to the mobile carrier 10 to remotely observe the operation of the mobile carrier 10 monitored by the inertial navigation system 20, and evaluate the accuracy of the inertial navigation system 20 based on the measured data and the reference data. The host computer 50 can be a computer or a mobile device.
根据上述的惯性导航精度测评***，本发明进一步提供了采煤机惯性导航精度测评方法。图4为本发明的采煤机惯性导航精度测评方法的一个实施例的流程图。由于该实施例的惯性导航精度测评方法采用上述的惯性导航精度测评***，因此也具有上述测评***的所有优点。According to the above-mentioned inertial navigation accuracy evaluation system, the present invention further provides a coal mining machine inertial navigation accuracy evaluation method. FIG4 is a flow chart of an embodiment of the coal mining machine inertial navigation accuracy evaluation method of the present invention. Since the inertial navigation accuracy evaluation method of this embodiment adopts the above-mentioned inertial navigation accuracy evaluation system, it also has all the advantages of the above-mentioned evaluation system.
如图4所示，该实施例的惯性导航精度测评方法包括以下步骤：As shown in FIG4 , the inertial navigation accuracy evaluation method of this embodiment includes the following steps:
步骤A：设置移动载体10及固定的轨道60，移动载体10能够在轨道60的两端之间沿轨道60往复运行。该移动载体10用以模拟采煤机，移动载体10的限位开关14触碰到位于轨道60两端的限位装置61时，触发电控箱40以停止移动载体10。此时，可以由测评人员发送信号，使移动载体10向反方向移动，或者电控箱40自动发送信号使移动载体10反向移动。移动载体10的往复运行，能够实现惯性导航精度的重复性测试、反复验证，从而得到更可靠的测评数据。Step A: Set up a mobile carrier 10 and a fixed track 60, and the mobile carrier 10 can reciprocate along the track 60 between the two ends of the track 60. The mobile carrier 10 is used to simulate a coal mining machine. When the limit switch 14 of the mobile carrier 10 touches the limit device 61 located at the two ends of the track 60, the electric control box 40 is triggered to stop the mobile carrier 10. At this time, the evaluation personnel can send a signal to make the mobile carrier 10 move in the opposite direction, or the electric control box 40 automatically sends a signal to make the mobile carrier 10 move in the opposite direction. The reciprocating movement of the mobile carrier 10 can realize the repeatability test and repeated verification of the inertial navigation accuracy, so as to obtain more reliable evaluation data.
在移动载体10上装载有待测的惯性导航20，轨道60用于模拟采煤机的运行轨迹。移动载体10的载体平台13紧邻地凹入在前轮11和后轮12之间（如图1所示），该载体平台13的这种结构更贴近轨道60，并且惯性导航20设置在载体平台13上，因此，相对于未将载体平台13凹入的情形，该惯性导航20始终贴近轨道60，能够更精确地进行监测。The inertial navigation system 20 to be tested is loaded on the mobile carrier 10, and the track 60 is used to simulate the running track of the coal mining machine. The carrier platform 13 of the mobile carrier 10 is recessed between the front wheel 11 and the rear wheel 12 (as shown in FIG. 1 ). This structure of the carrier platform 13 is closer to the track 60, and the inertial navigation system 20 is arranged on the carrier platform 13. Therefore, compared with the case where the carrier platform 13 is not recessed, the inertial navigation system 20 is always close to the track 60, and can be monitored more accurately.
步骤B：移动载体10上电。Step B: Power on the mobile carrier 10 .
步骤C：启动移动载体10，惯性导航20在静止状态进行初始对准。Step C: Start the mobile carrier 10 and perform initial alignment on the inertial navigation system 20 in a stationary state.
步骤D：移动载体10在轨道60的两端之间沿轨道60往复运行。同时上位机50记录惯性导航20的数据为待测数据。Step D: The mobile carrier 10 reciprocates along the track 60 between the two ends of the track 60. At the same time, the host computer 50 records the data of the inertial navigation 20 as the data to be tested.
移动载体10在轨道60上的往复运行，从而使惯性导航20进行重复性测试，从而得到多次测量数据。The mobile carrier 10 reciprocates on the track 60 so that the inertial navigation system 20 performs a repeatability test, thereby obtaining multiple measurement data.
移动载体10的运行速度在3米每分钟至20米每分钟之间，每次测试的时间周期在6至8小时之间，以模拟采煤机在井下实际的运行速度和工作时间。在实际测试过程中，可以根据具体测评内容选择测试时间，可以选在0至8小时之间的任意时间。The running speed of the mobile carrier 10 is between 3 meters per minute and 20 meters per minute, and the time period of each test is between 6 and 8 hours to simulate the actual running speed and working time of the coal mining machine in the mine. In the actual test process, the test time can be selected according to the specific evaluation content, and any time between 0 and 8 hours can be selected.
步骤E：基于测量数据生成移动载体10的运行轨迹作为待测数据，判断是否已经返回步骤D预定次数，是则前进到步骤F，否则返回到步骤D。Step E: Generate the running track of the mobile carrier 10 as the data to be measured based on the measurement data, and determine whether it has returned to step D for a predetermined number of times. If so, proceed to step F, otherwise return to step D.
该预定次数应当大于两次，在实际应用中可以根据具体情况进行设定，由于固定轨道能够实现重复性测试，因此预定次数设置越多，得到的测量数据越多，就越精确地对比评估惯性导航20的精度。The predetermined number of times should be greater than two times, and can be set according to specific circumstances in practical applications. Since a fixed track can achieve repeatability testing, the more predetermined times are set, the more measurement data are obtained, and the more accurately the accuracy of the inertial navigation 20 can be compared and evaluated.
步骤F：上位机50将基于多次待测数据，评估惯性导航20的精度。Step F: The host computer 50 evaluates the accuracy of the inertial navigation 20 based on multiple test data.
在此需要说明的是，上位机50的评估测评可以为在线或者离线进行，即在测量的同时评估或者在测量时存储数据然后在测量结束后评估。在实际测评过程中，可以根据具体需要进行选择。It should be noted that the evaluation of the host computer 50 can be performed online or offline, that is, the evaluation can be performed while measuring or the data can be stored during measurement and then evaluated after the measurement. In the actual evaluation process, the selection can be made according to specific needs.
该评估方法可以分为轨迹整体绝对偏差评估、轨迹偏离度评估以及轨迹重复度评估。The evaluation method can be divided into trajectory overall absolute deviation evaluation, trajectory deviation evaluation and trajectory repeatability evaluation.
图5为本发明的采煤机惯性导航精度测评轨迹整体绝对偏差评估示意图。如图，在轨迹整体绝对偏差评估中，对待测数据A B’线段与基准数据AB线段的所有轨迹点位n进行偏差计算统计，统计在所有点位n处的均方根误差和偏差最大值。该方法对待测数据A B’线段与基准数据AB线段进行严格时间同步。需要说明的是，轨迹整体绝对偏差评估不仅包含起点A到真实终点B和计算终点B’的积分累积误差，同时还包含起点A处的初始对准航向误差导致的整体旋转偏差。Figure 5 is a schematic diagram of the overall absolute deviation evaluation of the inertial navigation accuracy evaluation trajectory of the coal mining machine of the present invention. As shown in the figure, in the overall absolute deviation evaluation of the trajectory, the deviation calculation statistics are performed on all trajectory points n of the test data AB' segment and the reference data AB segment, and the root mean square error and the maximum deviation at all points n are counted. This method strictly synchronizes the time between the test data AB' segment and the reference data AB segment. It should be noted that the overall absolute deviation evaluation of the trajectory not only includes the integral cumulative error from the starting point A to the real end point B and the calculated end point B', but also includes the overall rotation deviation caused by the initial alignment heading error at the starting point A.
图6为本发明的采煤机惯性导航精度测评轨迹偏离度评估示意图。如图，在轨迹偏离度评估中，需要将待测数据与基准数据的起点A和终点B和B’分别对齐，然后统计在所有点位n处的均方根误差和偏差最大值。该方法的待测数据与基准数据进行严格时间同步。需要说明的是，轨迹的偏离度误差仅与起点到终点的待测数据与基准数据积分解算累积误差相关。Fig. 6 is a schematic diagram of trajectory deviation evaluation for inertial navigation accuracy evaluation of coal mining machine of the present invention. As shown in the figure, in trajectory deviation evaluation, it is necessary to align the starting point A and the end points B and B' of the test data with the reference data respectively, and then count the root mean square error and the maximum deviation at all points n. The test data of this method are strictly time synchronized with the reference data. It should be noted that the deviation error of the trajectory is only related to the cumulative error of the integral solution of the test data and the reference data from the starting point to the end point.
图7为本发明的采煤机惯性导航精度测评轨迹重复度评估示意图。如图，轨迹重复度评估中，需要移动载体10在固定的轨道60上来回运行。记录每一次移动载体10运行解算的轨迹，统计每一次轨迹各点相对其余轨迹对应各点的均方根误差和偏差最大值。需要说明的是，轨迹的偏离度误差仅与起点A到终点B的待测数据与基准数据积分解算累积误差相关，与初始对准误差无关。可选地，该评估方法将惯性导航20两次测量的待测数据进行偏差计算统计，偏差计算统计包括整体轨迹偏差的均方根误差和偏差最大值。在实际测评过程中，可以对惯性导航20多次测量数据进行偏差计算统计，以重复验证，使测评数据更精确、可靠。FIG7 is a schematic diagram of the trajectory repeatability evaluation of the inertial navigation accuracy evaluation of the coal mining machine of the present invention. As shown in the figure, in the trajectory repeatability evaluation, the mobile carrier 10 is required to run back and forth on the fixed track 60. The trajectory solved each time the mobile carrier 10 runs is recorded, and the root mean square error and the maximum deviation of each point of each trajectory relative to the corresponding points of the other trajectories are counted. It should be noted that the deviation error of the trajectory is only related to the cumulative error of the integral solution of the test data and the reference data from the starting point A to the end point B, and has nothing to do with the initial alignment error. Optionally, the evaluation method performs deviation calculation statistics on the test data measured twice by the inertial navigation 20, and the deviation calculation statistics include the root mean square error and the maximum deviation of the overall trajectory deviation. In the actual evaluation process, the deviation calculation statistics can be performed on the inertial navigation 20 measurement data for multiple times to repeat the verification to make the evaluation data more accurate and reliable.
在图5至图7中，n、n-1、n-2 、n-3、 n-4、 n-5分别表示不同的测量点位。In Figures 5 to 7, n, n-1, n-2, n-3, n-4, and n-5 represent different measurement points, respectively.
本发明的采煤机惯性导航精度测评***，通过移动载体10、固定的轨道60的相互配合模拟采煤机在井下作业的状况与环境，通过移动载体10在固定的轨道60上往复运行，使惯性导航20进行重复性测试，从而得到多次测量数据，根据对该多次测量的数据进行评估，以测评惯性导航20的精度，以方便研发人员的后续研发以及调试。The coal mining machine inertial navigation accuracy evaluation system of the present invention simulates the conditions and environment of the coal mining machine operating underground by the mutual cooperation of the mobile carrier 10 and the fixed track 60. The mobile carrier 10 reciprocates on the fixed track 60 to perform repeatable testing on the inertial navigation 20, thereby obtaining multiple measurement data. The accuracy of the inertial navigation 20 is evaluated based on the evaluation of the multiple measurement data, so as to facilitate subsequent research and development and debugging by R&D personnel.
本发明同时提供了根据上述采煤机惯性导航精度测评***的精度测评方法，通过该精度测评方法能够更精确地获得测评数值。The present invention also provides an accuracy evaluation method based on the above-mentioned coal mining machine inertial navigation accuracy evaluation system, through which the evaluation value can be obtained more accurately.
综上所述，本发明可以实现对惯性导航20的长时间慢速重复性测试，在模拟采煤机真实井下作业的同时进行重复验证，使测评数据更精确、可靠。In summary, the present invention can realize long-term slow repeatability testing of the inertial navigation 20, and perform repeated verification while simulating the actual underground operation of the coal mining machine, so as to make the evaluation data more accurate and reliable.
本发明的技术范围不仅仅局限于上述说明书中的内容，本领域技术人员可以在不脱离本发明技术思想的前提下，对上述实施方式进行多种变形和修改，而这些变形和修改均应当属于本发明的范围内。The technical scope of the present invention is not limited to the contents in the above description. Those skilled in the art can make various deformations and modifications to the above implementation without departing from the technical idea of the present invention, and these deformations and modifications should all fall within the scope of the present invention.

Claims (12)

  1. 一种采煤机惯性导航精度测评***，其特征在于，所述惯性导航精度测评***包括：A coal mining machine inertial navigation accuracy evaluation system, characterized in that the inertial navigation accuracy evaluation system comprises:
    移动载体，待测的惯性导航设置在所述移动载体上，并且在所述移动载体上还设置有用于控制所述移动载体的启停和速度的电控箱；A mobile carrier, the inertial navigation to be tested is arranged on the mobile carrier, and an electric control box for controlling the start, stop and speed of the mobile carrier is also arranged on the mobile carrier;
    固定的轨道，所述轨道用以模拟采煤机的运行轨迹，所述移动载体能够在所述轨道的两端之间沿所述轨道往复运行；以及A fixed track, the track is used to simulate the running track of the coal mining machine, and the mobile carrier can reciprocate along the track between the two ends of the track; and
    上位机，所述上位机用于接收和处理来自所述惯性导航的测量数据，并且基于所述测量数据生成所述移动载体的运行轨迹作为待测数据，以及基于多次测量得到的所述待测数据评估所述惯性导航的精度。A host computer is used to receive and process the measurement data from the inertial navigation, and to generate the running trajectory of the mobile carrier as the data to be measured based on the measurement data, and to evaluate the accuracy of the inertial navigation based on the data to be measured obtained by multiple measurements.
  2. 如权利要求1所述的惯性导航精度测评***，其中，所述上位机设置在所述移动载体上或者相对于所述移动载体远程设置。The inertial navigation accuracy evaluation system as described in claim 1, wherein the host computer is set on the mobile carrier or remotely set relative to the mobile carrier.
  3. 如权利要求1所述的惯性导航精度测评***，其中，所述惯性导航的位置始终贴近所述轨道。The inertial navigation accuracy evaluation system as described in claim 1, wherein the position of the inertial navigation is always close to the track.
  4. 如权利要求3所述的惯性导航精度测评***，其中，所述移动载体具有前轮、后轮及载体平台，所述前轮和后轮能够沿所述轨道行进并且分别位于所述载体平台的前后两端处，所述载体平台紧邻地凹入在所述前轮和所述后轮之间，并且所述惯性导航设置在所述载体平台上。The inertial navigation accuracy evaluation system as described in claim 3, wherein the mobile carrier has front wheels, rear wheels and a carrier platform, the front wheels and rear wheels can move along the track and are respectively located at the 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 arranged on the carrier platform.
  5. 如权利要求1所述的惯性导航精度测评***，其中，所述轨道的两端处均设置有限位装置，在所述移动载体上设置有限位开关，当所述移动载体运行到所述轨道的两端时，所述限位装置触发所述限位开关从而触发所述电控箱停止所述移动载体或者使所述移动载体反向移动。The inertial navigation accuracy evaluation system as described in claim 1, wherein limit devices are provided at both ends of the track, and limit switches are provided on the mobile carrier, and when the mobile carrier runs to both ends of the track, the limit device triggers the limit switch and thereby triggers the electric control box to stop the mobile carrier or make the mobile carrier move in the opposite direction.
  6. 一种采煤机惯性导航精度测评方法，其特征在于，所述惯导精度测评方法包括以下步骤：A method for evaluating the inertial navigation accuracy of a coal mining machine, characterized in that the inertial navigation accuracy evaluation method comprises the following steps:
    步骤A：设置移动载体及固定的轨道，所述移动载体能够在所述轨道的两端之间沿所述轨道往复运行，在所述移动载体上装载有待测的惯性导航，所述轨道用于模拟采煤机的运行轨迹；Step A: a mobile carrier and a fixed track are provided, wherein the mobile carrier can reciprocate along the track between two ends of the track, an inertial navigation to be tested is loaded on the mobile carrier, and the track is used to simulate the running track of the coal mining machine;
    步骤B：所述移动载体上电；Step B: Powering on the mobile carrier;
    步骤C：所述移动载体启动，并且所述惯性导航在静止状态进行初始对准；Step C: the mobile carrier is started, and the inertial navigation is initially aligned in a stationary state;
    步骤D：使所述移动载体在所述轨道的两端之间沿所述轨道往复运行，同时记录所述惯性导航的测量数据；Step D: causing the mobile carrier to reciprocate along the track between the two ends of the track while recording the measurement data of the inertial navigation;
    步骤E：基于所述测量数据生成所述移动载体的运行轨迹作为待测数据，判断是否已经返回步骤D预定次数，是则前进到步骤F，否则返回到步骤D；Step E: Generate the running track of the mobile carrier as the data to be measured based on the measurement data, and determine whether the process has returned to step D for a predetermined number of times. If yes, proceed to step F, otherwise, return to step D;
    步骤F：基于多次测量的所述待测数据评估所述惯性导航的精度。Step F: Evaluate the accuracy of the inertial navigation based on the data to be measured obtained through multiple measurements.
  7. 如权利要求6所述的惯性导航精度测评方法，其中，所述移动载体的运行速度在3米每分钟至20米每分钟之间，每次测试的时间周期在6至8小时之间。The inertial navigation accuracy evaluation method as described in claim 6, wherein the running speed of the mobile carrier is between 3 meters per minute and 20 meters per minute, and the time period of each test is between 6 and 8 hours.
  8. 如权利要求6所述的惯性导航精度测评方法，其中，所述惯性导航始终贴近所述轨道设置于所述移动载体。The inertial navigation accuracy evaluation method as described in claim 6, wherein the inertial navigation is always set on the mobile carrier close to the track.
  9. 如权利要求8所述的惯性导航精度测评方法，其中，所述移动载体具有前轮、后轮及载体平台，所述前轮和后轮能够沿所述轨道行进并且分别位于所述载体平台的前后两端处，所述载体平台紧邻地凹入在所述前轮和所述后轮之间，并且所述惯性导航设置在所述载体平台上。The inertial navigation accuracy evaluation method as described in claim 8, wherein the mobile carrier has front wheels, rear wheels and a carrier platform, the front wheels and rear wheels can move along the track and are respectively located at the 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 arranged on the carrier platform.
  10. 如权利要求6所述的惯性导航精度测评方法，其中，所述步骤F为在线或者离线进行。The inertial navigation accuracy evaluation method as described in claim 6, wherein step F is performed online or offline.
  11. 如权利要求6至10中任一项所述的惯性导航精度测评方法，其中，在所述步骤F中，对多次测量的所述待测数据进行偏差计算统计，所述偏差计算统计包括整体轨迹偏差的均方根误差和偏差最大值。The inertial navigation accuracy evaluation method as described in any one of claims 6 to 10, wherein, in the step F, deviation calculation statistics are performed on the data to be measured for multiple times, and the deviation calculation statistics include the root mean square error of the overall trajectory deviation and the maximum deviation.
  12. 如权利要求6至10中任一项所述的惯性导航精度测评方法，其中，在所述步骤F中，将多次测量的所述待测数据的起点和终点分别对齐，然后统计包括整体轨迹偏差的均方根误差和偏差最大值。The inertial navigation accuracy evaluation method as described in any one of claims 6 to 10, wherein, in the step F, the starting point and the end point of the data to be measured that are measured multiple times are aligned respectively, and then the root mean square error and the maximum deviation of the overall trajectory deviation are statistically analyzed.
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