基于超宽带技术的掘进机自主定位定向方法研究

针对煤矿井下综掘工作面的实际工况，提出了一种基于超宽带定位技术的悬臂式掘进机自主定位定向方法，建立了该方法的数学计算模型及误差随距离分布模型，并验证了该方法的可行性。分析结果表明：在满足煤炭巷道成型标准的情况下，该系统的自主探测范围可达400 m左右。为了进一步提高自主测量范围，提出了一种定位基站自主标定方法，可实现掘进机巡航参数的跟随性测量，减少综掘人员的井下作业时间。该项研究可有效防止因偏掘引起的巷道错位，实时提供掘进机位置状态及位姿参数，为实现掘进机自主巡航奠定基础，满足深部危险煤层开采的无人化需求。

Research on autonomous positioning and orientation method of roadheader based on Ultra Wide-Band technology

In view of the actual working conditions of mining face in underground coal mine,a new method of autonomous positioning and orientation of roadheader based on Ultra Wide-Band (UWB) ranging technique was proposed.A mathematical model and an error distribution model had been developed to verify the feasibility of the method.The analysis results show that the effective detection range of the system can reach 400 m when it meets the forming standards of coal tunnel.In order to further improve the range of autonomous measurement,a new method of self-calibration of base station was proposed,which can realize the following measurement of the cruise parameters of the roadheader and reduce the underground staff time significantly.This research can effectively prevent the dislocation caused by the partial excavation,offer the position and pose parameters of the roadheader in real time,provide a foundation to realize autonomous cruise,and meet the needs of unmanned mining in deep dangerous coal seam.