摘要
为精确获得采煤机在A工作面上的位姿信息,通过仿真研究与应用试验,针对原采用红外无线技术的定位效果差,设计SINS(Strapdown Inertial Navigation System,捷联式惯性导航系统)组合WSN(Wireless Sensor Network,无线传感器网络)的采煤机定姿定位技术,经仿真研究,该改进技术能够有效抑制单一定位方法产生的误差。经应用试验后,该定位方法中的采煤机俯仰角、翻滚角和航向角的最大误差分别为0.332 1°、 0.217 2°和0.512 4°;东向、北向和天向最大位移误差分别为0.171 6、 0.730 2、-0.154 7 m,精度提升明显,验证该方法的可行性。
To accurately obtain the attitude and position information of the coal shearer on A working face,a shearer attitude and position determination technology integrating SINS(Strapdown Inertial Navigation System)with WSN(Wireless Sensor Network)was designed to address the poor positioning effect of the original infrared wireless technology through simulation research and application tests.Simulation results indicate that the improved technology can effectively suppress the errors caused by a single positioning method.After application tests,the maximum errors of the pitch angle,roll angle,and heading angle of the coal shearer in this positioning method are 0.3321°,0.2172°,and 0.5124°respectively;the maximum displacement errors in the east,north,and vertical directions are 0.1716 m,0.7302 m,and-0.1547 m respectively.The accuracy has been significantly improved,and the feasibility of the method has been verified.
作者
张志辉
ZHANG Zhihui(Shanxi Zhongmei Dongpo Coal Industry Co.,Ltd.,Shuozhou 036000,Shanxi,China)
出处
《能源与节能》
2026年第2期266-269,共4页
Energy and Energy Conservation
关键词
采煤机
定姿定位
SINS系统
WSN系统
coal shearer
attitude and position determination
SINS system
WSN system
