A Real-Time Autonomous Calibration Method for an Attitude Laser Measurement System for the Roadheader

被引：1

作者：

Ji, Xiao-dong ^{[2
]}

Lyu, Fuyan ^{[1
]}

Li, Chunzhi ^{[1
]}

Zhang, Minjun ^{[2
]}

Qu, Yuanyuan ^{[2
]}

Li, Xu ^{[3
,4
]}

Wu, Miao ^{[2
]}

机构：

[1] Shandong Univ Sci & Technol, Coll Mech & Elect Engn, Qingdao 266590, Peoples R China

[2] China Univ Min & Technol Beijing, Sch Mech Elect & Informat Engn, Beijing 100083, Peoples R China

[3] Tiandi Sci & Technol Co Ltd, Beijing 100013, Peoples R China

[4] China Coal Res Inst, Storage & Loading Branch, Beijing 100013, Peoples R China

来源：

ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING | 2022年 / 47卷 / 12期

基金：

美国国家科学基金会;

关键词：

Laser total station; Attitude measurement; Auto calibration; Extended Kalman filter; ROBOTIC TOTAL STATION; BRIDGE;

D O I：

10.1007/s13369-022-06671-2

中图分类号：

O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];

学科分类号：

07 ; 0710 ; 09 ;

摘要：

A laser total station (LTS) is an environmentally stable position and attitude measurement device that has significant potential for identifying the position and attitude of the roadheader in real-time under severe working conditions. A fast and accurate calibration method of the LTS after the station movement is required for the roadheader attitude auto measurement in real-time. Based on the measurement principle of the laser measurement system, we analyze the mathematical model of the auto-calibration coordinate calculation; then, we establish a calibration error evaluation method for the auto-calibration system. To solve the real-time calibration of the LTS's coordinates, we present an extended Kalman filter algorithm based on the real-time observations and estimations of the coordinates and position. The presented algorithm is verified by a Matlab simulation and a roadheader calibration experiment.

引用

页码：15551 / 15558

页数：8

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