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投稿时间:2020-01-02 修订日期:2020-01-17
投稿时间:2020-01-02 修订日期:2020-01-17
中文摘要: 地下铲运机在井下巷道环境中无法通过接收GPS信号来实现车辆的定位,因此需要搭建其他定位系统来替代。UWB定位系统通过基站与车载标签进行车辆井下位置定位。由于地下巷道狭长的特点,单一的UWB定位成本很高。本文对此展开研究,在地表搭建模拟巷道分别对UWB定位系统与UWB与激光测距融合定位系统进行测试,实验表明两种定位系统误差相距不大,都可满足使用要求,但采用UWB与激光测距融合定位系统可以极大的降低UWB基站的使用数量,从而降低系统成本。
中文关键词: 地下铲运机 UWB定位系统 UWB与激光测距融合定位系统
Abstract:The underground LHD cannot be located by receiving GPS signal in the underground tunnel environment, so it is necessary to build other positioning system. UWB (Ultra-wideband)system can locate the LHD through the UWB sensor and UWB tags. Due to the narrow and long characteristics of underground tunnels, the cost of UWB is very high. In this paper,the simulation tunnel is built on the surface to test the UWB positioning system and the UWB and laser fusion positioning system respectively. The experiment shows that these two positioning systems can both meet the requirements for use. However, the use of UWB and laser fusion positioning system can greatly reduce the number of UWB sensors and system cost.
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基金项目:基金项目:北京市科技计划“地下矿用车辆无人驾驶环境感知与控制策略研究及应用”(Z171100000917009)
Author Name | Affiliation | |
SHIXIAOJIE | BGRIMM | shixiaojie_1994@163.com |
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引用文本:
石潇杰,李恒通,石峰,郭鑫,高泽宇.基于UWB与激光测距的地下铲运机井下定位系统[J].有色金属(矿山部分),2020,72(2):81-83.
SHIXIAOJIE.The fusion underground positioning system of UWB and laser range technology for Underground LHD[J].NONFERROUS METALS(Mining Section),2020,72(2):81-83.
石潇杰,李恒通,石峰,郭鑫,高泽宇.基于UWB与激光测距的地下铲运机井下定位系统[J].有色金属(矿山部分),2020,72(2):81-83.
SHIXIAOJIE.The fusion underground positioning system of UWB and laser range technology for Underground LHD[J].NONFERROUS METALS(Mining Section),2020,72(2):81-83.