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

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.