关键词: 捷联惯导, 掘进机位姿, 四元数法, 等效旋转矢量

Abstract: Aiming at the harsh environment of high coal dust and dark light in coal mine, a method of detecting the attitude of cantilever type roadheader based on strapdown inertial navigation is proposed. Strapdown inertial navigation technology does not rely on external information, is not subject to environmental interference, and is suitable for the harsh environment of coal mines. Strapdown inertial navigation technology measures the attitude and position information of the roadheader through three-axis gyroscope and three-axis accelerometer. The attitude calculation algorithm determines the accuracy of attitude and position to a large extent. The applicability and advantages and disadvantages of the cantilever tunneling machine are analyzed. The four pose calculation algorithms are compared. The simulation is carried out under the two conditions of noisy sinusoidal motion and simulated roadheader. An experimental platform was built and used to replace the roadheader's tunneling and experiment. The results show that both algorithms can meet the accuracy requirements of the roadhead attitude angle. The accuracy of the quaternion method is higher than that of the equivalent rotation vector method. The experimental results verify the simulation results, but the position correction error is better. The large and divergent state is for further study.