Title:
OPTICAL FLOW METHOD-BASED COAL MINING MACHINE STRAP-DOWN INERTIAL NAVIGATION INITIAL ALIGNMENT SYSTEM AND METHOD
Document Type and Number:
WIPO Patent Application WO/2019/227865
Kind Code:
A1
Abstract:
An optical flow method-based coal mining machine strap-down inertial navigation initial alignment system and method. The system comprises an explosion-proof box, a strap-down inertial navigation system, a processor, a fixing support, and a camera; the explosion-proof box is fixedly mounted on the body of a coal mining machine; the strap-down inertial navigation system and the processor are mounted in the explosion-proof box; the camera is fixed onto a hydraulic support at one side of the coal mining machine by means of the fixing support; and a photographing direction of the camera faces the coal mining machine. A motion image of the coal mining machine is photographed by using the camera, and a motion direction and an actual ground speed of the coal mining machine are obtained by combining the optical flow technology; a multi-vector attitude determination equation is derived from a specific force equation of strap-down inertial navigation; an initial attitude matrix of strap-down inertial navigation can be finally calculated by using a Whaba optimal matrix, thereby achieving initial alignment of the strap-down inertial navigation system. According to the method, accurate initial alignment for a movable base of strap-down inertial navigation is achieved by means of external speed assistance, without a coarse alignment stage.
Inventors:
LI WEI (CN)
CHEN YUMING (CN)
WANG YUQIAO (CN)
YANG XUEFENG (CN)
FAN MENGBAO (CN)
JU JINYONG (CN)
LU EN (CN)
SHENG LIANCHAO (CN)
WANG CHAO (CN)
XIA TING (CN)
CHEN YUMING (CN)
WANG YUQIAO (CN)
YANG XUEFENG (CN)
FAN MENGBAO (CN)
JU JINYONG (CN)
LU EN (CN)
SHENG LIANCHAO (CN)
WANG CHAO (CN)
XIA TING (CN)
Application Number:
PCT/CN2018/115777
Publication Date:
December 05, 2019
Filing Date:
November 16, 2018
Export Citation:
Assignee:
UNIV CHINA MINING (CN)
International Classes:
G01C25/00; G01C21/16
Foreign References:
| CN108592951A | 2018-09-28 | |||
| CN105371871A | 2016-03-02 | |||
| CN102829779A | 2012-12-19 | |||
| CN1233706A | 1999-11-03 | |||
| CN104964688A | 2015-10-07 | |||
| CN105300410A | 2016-02-03 | |||
| CN106708066A | 2017-05-24 |
Attorney, Agent or Firm:
NANJING SUGAO PATENT AND TRADEMARK FIRM (ORDINARY PARTNERSHIP) (CN)
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