激光技术, 2017, 41 (1): 19, 网络出版: 2017-01-17
基于视觉/惯导的掘进机实时位姿测量方法研究
Study on measurement method of realtime position and attitude of roadheader based on vision/inertial navigation system
测量与计量 视觉测量 捷联式惯性导航系统 单目视觉 位置与姿态 自由度 measurement and metrology vision measurement strapdown inertial navigation system monocular vision position and attitude degree-of-freedom
摘要
针对煤矿井下掘进机实时位姿自动检测的难题, 通过分析比较现有几种位姿测量方法的优缺点, 提出了一种基于视觉/惯导的掘进机位姿组合测量方法。该方法通过激光捷联式惯导系统得到掘进机的姿态信息、单目视觉测量掘进机的位置信息, 从而实现掘进机实时位姿的5自由度测量。依托大柳塔煤矿的快掘设备对该方法进行了实验验证。结果表明, 姿态测量精度为0.1°, 静态漂移的标准差不大于0.25°, 位置定位精度优于1cm。该方法能够用于掘进机实时位姿测量, 具有广阔的工程应用前景。
Abstract
In order to measure the position and attitude of roadheader dynamically and automatically, by analyzing and comparing the features of several existing measurement methods. a position and attitude multiple measurement method for roadheader based on vision/inertial navigation system (INS) was proposed. By getting the attitude of roadheader and the position of monocular vision measurement roadheader with strapdown inertial navigation system (SINS), the dynamic five degree-of-freedom (DOF) measurement was realized. This method was verified with the fast driving equipment in Daliuta mine. The experiment results show that the accuracy of attitude measurement is within 0.1°, the standard deviation of static drift is within 0.25° and the accuracy of position measurement is within 1cm. This method can be used for position and attitude dynamic measurement for roadheader, and possesses very broad prospect in engineering practice.
黄东, 杨凌辉, 罗文, 张晓日, 史慎东, 黄喆, 王姣. 基于视觉/惯导的掘进机实时位姿测量方法研究[J]. 激光技术, 2017, 41(1): 19. HUANG Dong, YANG Linghui, LUO Wen, ZHANG Xiaori, SHI Shendong, HUANG Zhe, WANG Jiao. Study on measurement method of realtime position and attitude of roadheader based on vision/inertial navigation system[J]. Laser Technology, 2017, 41(1): 19.