基于视觉/惯导的掘进机实时位姿测量方法研究

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。

Study on measurement method of realtime position and attitude of roadheader based on vision/inertial navigation system

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.