摘要
提出了一种矿用捷联惯导系统现场快速自标定方法,设计了自标定转位机构,通过摆放不同的位置,对不同位置的惯导输出信息采用基于最小二乘法的椭球拟合方法进行拟合来实现系统参数的无转台自标定,以避免捷联惯导系统的耗时长、过程复杂的标定过程。
Proposed a mining strapdown inertial navigation system on-site rapid self calibration method,and designed a self calibration indexing mechanism.Through placing it in different positions,the output information of the inertial navigation at different positions was fitted by using an ellipsoid fitting method based on the least squares method to achieve the turntable free self calibration of the system parameters,so as to avoid the time-consuming and complex calibration process of the strapdown inertial navigation system.
作者
李小燕
Li Xiaoyan(CCTEG Taiyuan Research Institute Co.,Ltd.,Taiyuan 030006,China;China National Engineering Laboratory for Coal Mining Machinery,Taiyuan 030032,China;Shanxi Tiandi Coal Mining Machinery Co.,Ltd.,Taiyuan 030032,China;State Key Laboratory of Intelligent Coal Mining and Strata Control,Taiyuan 030032,China)
出处
《煤矿机械》
2025年第9期237-239,共3页
Coal Mine Machinery
基金
国家重点研发计划项目(2022YFB4703602)
山西省基础研究计划项目(202103021223461)
山西省重点研发计划项目(202202020101005)
中国煤炭科工集团太原研究院有限公司科技重大项目(FD2023-ZD04)。
关键词
捷联惯导系统
自标定
转位机构
椭球拟合
strapdown inertial navigation system
self calibration
indexing mechanism
ellipsoid fitting
