Automatic positioning and orientation method of roadheader based on combination of ins and digital total station

Aiming at the problems of inaccurate positioning and orientation of the roadheader and low degree of automation,a method for autonomous positioning and orientation of the roadheader based on the combination of fiber optic inertial navigation and digital total station is proposed in the paper. By analyzing the principle of combined positioning and orientation of fiber optic strapdown inertial navigation and digital total station,the error model of fiber optic strapdown inertial navigation and digital total station and the state equation and measurement equation of combined positioning and orientation system are established,and Kalman filter is applied. The device predicts and estimates the state quantity and quantity measurement of the combined positioning and orientation system,and considers the influence of the positioning accuracy of the digital total station on the fusion effect,and obtains the fusion information of the autonomous positioning and orientation of the roadheader. An experimental platform for the positioning and orientation of the boring machine was built,and the autonomous positioning and orienting method combining the inertial navigation and the total station was experimentally verified by the boring machine simulating the lane centerline walking. The experimental results show that：when determining the measurement noise variance R according to the positioning accuracy of the digital total station,the combined positioning orientation accuracy is the highest,where the maximum error in the x-axis direction is 0.03 m,the maximum error in the y-axis direction is 0.02 m,heading angle,pitch The detection errorLMof the angle and roll angle is less than 0.05°,which can meet the technical requirements of precise positioning and orientation of coal mine roadheaders,solve the problem of cumulative error and position divergence of optical fiber strapdown inertial navigation attitude,and realize the precise autonomous positioning and orientation of the roadheader. The intelligent development of the surface lays a good foundation.