Mining monorail crane locomotive positioning method based on inertia module

• Main Authors: SONG JIANCHENG, GENG PULONG, NING ZHENBING, GUO LIANG
• Format: Patent
• Language: Chinese; English
• Published: 08.09.2020
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention relates to a mining monorail crane locomotive positioning method based on an inertia module. The method comprises the following steps of firstly, acquiring acceleration, angular velocity, magnetic field intensity and an attitude angle of locomotive operation through a nine-axis inertia module; secondly, solving an attitude matrix by utilizing an attitude angle while carrying out amplitude limiting filtering, Kalman filtering and zero offset removal processing on the acceleration data, and filtering out a gravity component in the acceleration data by combining the data of the twoand using a direction cosine matrix method; and finally, completing compensation and zero-speed correction of acceleration steady-state errors in an integral ranging process, performing error compensation of an integral result, and updating the real-time position of the locomotive according to the compensated result and the initial position of the locomotive. The method is advantaged in that positioning cost of the monora