双矢量定姿在煤矿掘进机姿态测量中的应用OA

In view of the problems of high-cost and accumulation of errors in the existing attitude measurement methods of roadheader,an attitude measurement algorithm based on the principle of double-vector attitude determi-nation is proposed.By constructing and sensing the gravity-vector and light-vector respectively in the roadway ex-cavation environment,using inertial inclination measurement and binocular vision measurement techniques,the atti-tude of the roadheader carrier coordinate frame relative to the roadway navigation coordinate frame can be realized based on the mathematical expression of vector elements in the navigation coordinate frame and the roadheader carrier coordinate frame.A measuring device that consists of an inclinometer and a binocular camera measures the indicated laser and gravity-vectors,and then the attitude of the roadheader can be solved using the double-vector attitude determination algorithm.The static repeatability measurement experiment is designed,and the experimental results show that the repeatability measurement precision of the attitude angles is 0.066 2°.The simulation analysis of the errors that may be introduced using the Monte Carlo method,which shows that the effect of the errors on the yaw,pitch and roll angles are 0.786 4°,0.454 8° and 0.476 5°,respectively.