| Citation: |
JIANG Fan，KANG Jingjing，HUANG Xingtao，et al. A positioning method for underground trackless rubber wheel vehicle based on fusion of multiple encoders and strapdown inertial navigation system[J]. Coal Science and Technology，2024，52（S2）：284−293. DOI: 10.12438/cst.2023-1944
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Aiming at the problems of low accuracy and poor reliability of traditional trackless rubber tire vehicle positioning and orientation technology in coal mines, a trackless rubber tire vehicle positioning method based on the fusion of multiple encoders and inertial navigation is proposed. Based on the characteristics of multi encoder data, a kinematic model of a trackless rubber wheel odometer was established, and a heading calculation algorithm based on multi encoder was derived. In response to the problem of positioning divergence caused by relying solely on encoder data in the aforementioned dead reckoning algorithm, a dead reckoning algorithm based on multiple encoders and strapdown inertial navigation is designed by combining wheel odometry with attitude data. This algorithm can effectively suppress the rapid accumulation of dead reckoning errors. On this basis, the extended Kalman filtering algorithm is adopted to fuse the attitude data calculated based on the kinematic model of the wheel odometer and the attitude data calculated by the strapdown inertial navigation, and improve the positioning accuracy of the heading calculation by improving the heading accuracy. Based on the extended Kalman filtering algorithm, a combined positioning model for strapdown inertial navigation/dead reckoning was established. To address the problem of decreased or even divergent filtering accuracy when modeling is inaccurate, an improved adaptive extended Kalman filtering algorithm was proposed. By estimating and adjusting measurement noise in real time, the accuracy and stability of the filtering were improved. A fault-tolerant model was established to detect and isolate abnormal driving conditions such as slipping or sliding of trackless rubber wheeled vehicles, which resulted in the failure of wheel odometers. We built a mobile car experimental system and used UWB positioning results as reference truth values to conduct comprehensive sports car experimental research. The experimental results show that the proposed combination positioning method can meet the positioning requirements of trackless rubber wheeled vehicles in coal mines underground.
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