Coal mine underground automatic driving vehicle accurate positioning system and positioning method thereof

The invention discloses a coal mine underground automatic driving vehicle accurate positioning system and a positioning method thereof. The positioning system is provided with a UWB positioning system, an ultrasonic radar, a mine GIS geographic information system, a UWB positioning card and an IMU,...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	CHEN XIAOJING, LUO KE, ZHOU LIBING, ZHAO YEXIN, WANG TIANYU, YU ZHENGQIAN, SHEN KE, HUO ZHENLONG, ZOU SHENG, YANG HUA, HAO DABIN
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	ANALOGOUS ARRANGEMENTS USING OTHER WAVES DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES GYROSCOPIC INSTRUMENTS LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION SURVEYING TESTING
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Beschreibung
Zusammenfassung:	The invention discloses a coal mine underground automatic driving vehicle accurate positioning system and a positioning method thereof. The positioning system is provided with a UWB positioning system, an ultrasonic radar, a mine GIS geographic information system, a UWB positioning card and an IMU, and the UWB positioning system, the ultrasonic radar and the mine GIS geographic information system are fused to form a GNSS-like positioning algorithm; the three-dimensional coordinates of the automatic driving vehicle in the underground coal mine are obtained; a UWB positioning card, an ultrasonic radar and an IMU are all installed on the automatic driving vehicle, a GNSS-like positioning algorithm is combined with the IMU, data obtained by the IMU serve as prior information of Kalman filtering, data obtained by the GNSS-like positioning algorithm serve as correction information, and by means of the advantages of the UWB positioning card, the ultrasonic radar and the IMU, the positioning precision can be effectiv