三重惯性导航系统的实验研究 剪刀定位器定位
Cheng Lu1,2, Shibo Wang2, Kyoosik Shin3
1School of Mechanical Engineering, Anhui Science and Technology University, Chuzhou 233100, China.
Micromachines
|July 29, 2023
概括
这项研究使用三重惯性导航系统 (TINS) 提高了剪刀器定位精度. 通过0.2m的系统间距离和特定的空间配置实现了最佳结果,提高了整体精度.
科学领域:
- 采矿工程 采矿工程 采矿工程
- 机器人技术 机器人技术 机器人技术
- 地理学工程 工程地质学
背景情况:
- 剪刀定位精度对于采矿效率和安全至关重要.
- 传统的导航系统在复杂的地下环境中面临局限性.
- 三重惯性导航系统 (TINS) 提供了提高准确性的潜力.
研究的目的:
- 调查TINS安装参数对剪刀定位精度的影响.
- 为了确定最佳的配置,以提高导航性能.
- 为了验证基于TINS的定位模型的有效性.
主要方法:
- 开发一种使用TINS定位模型的地面实验装置.
- 进行实验以评估INS间距离对准确度的影响.
- 进行实验以评估三INS平面空间位置 (α3) 对准确度的影响.
- 在TINS数据处理中使用扩展卡尔曼波器 (EKF).
主要成果:
- 在各种实验条件下,剪刀的定位精度得到了提高.
- 当INS之间的距离为0.2米时,获得了最高的精度.
- 当负平面α3为45°时,观察到的最大定位精度.
- EKF评估的TINS输出精度被确定为影响精度的主要因素.
结论:
- TINS安装参数显著影响剪刀定位的准确性.
- 最佳的INS间距离为0.2米,以提高最大的准确性.
- 最佳的空间配置涉及负平面的α3 = 45°.
- 推的最佳参数平衡准确性,安装方便性和系统性能.
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