CN121384035A - Method and system for determining attitude of vertical shaft heading machine - Google Patents
Method and system for determining attitude of vertical shaft heading machineInfo
- Publication number
- CN121384035A CN121384035A CN202511925482.6A CN202511925482A CN121384035A CN 121384035 A CN121384035 A CN 121384035A CN 202511925482 A CN202511925482 A CN 202511925482A CN 121384035 A CN121384035 A CN 121384035A
- Authority
- CN
- China
- Prior art keywords
- attitude
- angle
- absolute
- coordinate system
- ultrasonic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明旨在提供一种竖井掘进机姿态确定方法及系统，属于地下工程监测领域。该方法建立固定坐标系与载体坐标系，利用井壁超声波发射器与平台接收器获取传播时间，基于空间球面交汇解算接收器绝对坐标及平台绝对姿态；同时利用陀螺仪和加速度计采集角速度与比力信息，计算高频与低频预测姿态。通过融合算法将绝对姿态与预测姿态结合得到最优姿态角，并构建转换矩阵处理比力信息以解算最优位置偏差。本发明利用超声波穿透性强和惯性导航连续性的优势，解决了激光导向在粉尘泥水环境下易失效的问题，实现了竖井掘进机姿态的高精度、抗干扰实时监测。
This invention aims to provide a method and system for determining the attitude of a shaft boring machine, belonging to the field of underground engineering monitoring. The method establishes a fixed coordinate system and a platform coordinate system, utilizes an ultrasonic transmitter on the shaft wall and a receiver on the platform to obtain propagation time, and calculates the absolute coordinates of the receiver and the absolute attitude of the platform based on the intersection of spatial spherical surfaces. Simultaneously, gyroscopes and accelerometers are used to collect angular velocity and specific force information, calculating high-frequency and low-frequency predicted attitudes. A fusion algorithm combines the absolute attitude and predicted attitude to obtain the optimal attitude angle, and a transformation matrix is constructed to process the specific force information to calculate the optimal position deviation. This invention leverages the strong penetrating power of ultrasonic waves and the continuity of inertial navigation to solve the problem of laser guidance failure in dusty and muddy environments, achieving high-precision, interference-resistant real-time monitoring of the shaft boring machine's attitude.
Description
Technical Field
The invention relates to the technical field of underground engineering construction monitoring, in particular to a method and a system for determining the posture of a vertical shaft heading machine.
Background
Along with the rapid development of mines and tunnel engineering, the excavation depth of a vertical shaft is continuously increased, the requirement for keeping the precision of the vertical direction of the vertical shaft is also increasingly severe, and a guiding system of a vertical shaft heading machine plays a decisive role. The core task of the guiding system is to monitor the position and posture information of the heading machine in real time and feed the information back to the control room to adjust the digging direction.
Currently, shaft heading machines are mainly positioned by means of a laser guiding system. This technique typically emits a vertical beam through a wellhead laser transmitter, which is received by a laser target on the heading machine, and calculates the pose from the deviation of the spot from the bulls-eye. However, the shaft construction site environment is extremely severe, and the well is filled with high-concentration dust and muddy water splashes. The laser guiding system has higher requirements on the light path environment, muddy water and dust are extremely easy to shade or scatter laser beams, and the signal intensity is reduced or even completely lost. Once the laser signal is interrupted, the guide system loses the alignment standard, and high-precision continuous guide cannot be provided, so that the construction safety and the engineering quality of the heading machine are seriously affected. Therefore, a gesture determination technology which can adapt to a downhole severe environment and has high anti-interference capability is needed.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a method and a system for determining the posture of a vertical shaft heading machine, and aims to solve the problems that by establishing a measuring link between the ultrasonic wave emission of a shaft wall and the reception of a carrying platform, the absolute attitude is obtained by utilizing the space spherical intersection principle, and multisource data fusion is carried out by combining the specific force and angular velocity information of the inertial sensor, so that the accurate calculation and the real-time prediction of the attitude of the heading machine under the complex environment are realized.
In order to achieve the above purpose, in a first aspect, the invention provides a method for determining the posture of a shaft heading machine, which comprises the following steps of S1, establishing a first coordinate system for describing a space position and a second coordinate system for following the movement of the shaft heading machine, and acquiring ultrasonic propagation time information, angular speed information of a carrying platform and specific force information.
And S2, calculating the absolute coordinate of the ultrasonic receiver under the first coordinate system according to the ultrasonic propagation time information, further calculating the absolute position deviation of the carrying platform and a unit normal vector reflecting the inclination degree of the carrying platform, and calculating the absolute attitude angle of the carrying platform according to the unit normal vector.
And S3, carrying out integral processing on the angular velocity information to obtain a high-frequency predicted attitude angle, and calculating a low-frequency predicted attitude angle according to the specific force information.
And S4, calculating an optimal attitude angle by utilizing an optimal attitude angle fusion algorithm according to the absolute attitude angle, the high-frequency predicted attitude angle and the low-frequency predicted attitude angle, and constructing a coordinate system conversion matrix according to the optimal attitude angle.
And S5, converting the specific force information into the first coordinate system by utilizing the coordinate system conversion matrix, removing the influence of gravity, obtaining a predicted position deviation through integral operation, fusing the predicted position deviation with the absolute position deviation obtained in the step S2, and outputting an optimal position deviation.
The specific mode of establishing the coordinate system in the step S1 is that the first coordinate system takes the central point of the shaft wellhead as an origin, the vertical downward direction is the positive direction of the Z axis, the positive direction of the X axis is horizontally directed to the right side, the Y axis is perpendicular to the X axis and the Z axis, the second coordinate system takes the center of the carrying platform as the origin, the Z axis direction is downward along the axis of the central rigid column, and the X axis and the Y axis directions are initially consistent with the X axis and the Y axis directions in the first coordinate system.
Further, the step S2 of calculating the absolute position deviation and the absolute attitude angle of the carrying platform comprises the following steps of according to the formulaCalculate the firstUltrasonic receiver and the firstDistance between ultrasonic transmittersWhereinIs the speed of sound,Is the firstThe ultrasonic transmitter transmits signals to the firstEach ultrasonic receiver receives a signal propagation time.
The distance is set by taking the known coordinates of the ultrasonic transmitter as the circle centerConstructing a space sphere for the radius, and calculating the first through a sphere intersection principleAbsolute coordinates of the ultrasonic receivers in the first coordinate systemWhere n represents the nth measurement, e.gCalculating the mean value according to the absolute coordinates of all the ultrasonic receivers to obtain the current coordinate of the center of the carrying platformThe current coordinates are processedWith the initial platform coordinatesCalculating the difference value to obtain the absolute position deviation。
Further, the calculating of the absolute attitude angle in the step S2 specifically includes, based on the absolute coordinates of the ultrasonic receiverAnd the current coordinates of the center of the carrying platformConstructing two non-collinear vectorsCarrying out cross multiplication and normalization on the non-collinear vector to obtain a unit normal vector perpendicular to the carrying platformCalculating an absolute attitude angle according to the components of the unit normal vector, wherein the calculation formula is that the absolute roll angleAbsolute pitch angleAbsolute course angleWherein, the method comprises the steps of,Is vector quantityThe components on the X-axis, Y-axis,The included angle between the initial installation position of the receiver and the X axis of the second coordinate system is fixed.
Further, the specific formula for calculating the low-frequency predicted attitude angle in the step S3 is as follows:
Low frequency roll angle Low frequency pitch angleWherein, the method comprises the steps of,The components of the specific force information on the three axes of the second coordinate system are respectively.
Further, the specific formula of the optimal attitude angle fusion algorithm in the step S4 is as follows:
Wherein, when k is 1, 2 and 3, Respectively representing an optimal roll angle, an optimal pitch angle and an optimal course angle; is a filter coefficient; is the absolute attitude angle; predicting an attitude angle for the high frequency; Is the time step; When k=3, the low-frequency course angle cannot be obtained according to the specific force information, so that the weighted average value of the absolute course angle and the low-frequency course angle cannot be used for correcting the high-frequency course angle, and therefore, the fusion algorithm formula executed by the gesture fusion module is corrected as follows:
;
Further, the coordinate system transformation matrix constructed in the step S4 The method comprises the following steps:
;
wherein, the The optimal roll angle, the optimal pitch angle and the optimal course angle obtained in the step S4 are respectively obtained,Representing cosine functions,Representing a sinusoidal function。
Further, the step S5 calculates a predicted positional deviationThe formula of (2) is:
wherein, the method comprises the steps of, For the transformation matrix of the coordinate system,For the vector of the specific force information,The force vector of the gravity is used to determine,The corresponding discrete result is the predicted position deviation。
Further, in the step S5, the optimal position deviation is calculated in a fusion mannerThe formula of (2) is:
wherein, the method comprises the steps of, For the said deviation of the predicted position,For the said absolute positional deviation it is provided that,The value range is that the weight coefficient is。
Further, the filter coefficientsIs 0.98, the time stepThe time interval is set to 8 seconds, and the time interval is consistent with the update interval of the ultrasonic wave propagation time information.
In a second aspect, the invention provides a vertical shaft heading machine attitude determination system, which comprises a computer, a control box, an ultrasonic transmitter arranged on a vertical shaft wall, an ultrasonic receiver arranged on a vertical shaft heading machine carrying platform, a gyroscope and an accelerometer, wherein the computer is in communication connection with the control box, the control box is respectively in communication connection with the ultrasonic transmitter, the ultrasonic receiver, the gyroscope and the accelerometer, and the computer is configured to execute the vertical shaft heading machine attitude determination method according to any one of the above.
The system comprises a data acquisition module, an absolute pose resolving module, a predicted pose resolving module, a pose fusion module and a position fusion module, wherein the data acquisition module is used for controlling an ultrasonic transmitter and an ultrasonic receiver to acquire ultrasonic propagation time data, controlling an accelerometer and a gyroscope to acquire three-axis specific force information and three-axis angular velocity information of a carrying platform respectively, the absolute pose resolving module is used for calculating absolute coordinates of the ultrasonic receiver according to the ultrasonic propagation time data, resolving absolute position deviation and unit normal vector of the carrying platform according to the absolute coordinates, further calculating an absolute pose angle, the predicted pose resolving module is used for integrating the three-axis angular velocity information to obtain a high-frequency predicted pose angle, and calculating a low-frequency predicted pose angle according to the three-axis specific force information, the pose fusion module is used for fusing the absolute pose angle, the high-frequency predicted pose angle and the low-frequency predicted pose angle through a fusion algorithm to obtain an optimal pose angle, and constructing a coordinate system conversion matrix, and the position fusion module is used for converting the three-axis specific force information into a first coordinate system through the coordinate system and removing gravity influence, and obtaining the predicted position deviation through integration, and outputting the absolute position deviation and the optimal position deviation.
The absolute pose resolving module is further configured to construct two non-collinear vectors through the absolute coordinates of the ultrasonic receiver and the central coordinates of the carrying platform, cross-multiply and normalize the two non-collinear vectors to obtain a unit normal vector, and calculate an absolute roll angle, an absolute pitch angle and an absolute course angle by using an inverse trigonometric function according to components of the unit normal vector on different axes.
Further, a fusion algorithm formula executed by the gesture fusion module is as follows:
;
wherein, when k is 1, the method comprises the steps of, Representing the optimal roll angle, when k is taken to be 2,Representing the optimal pitch angle, when k is taken to be 3,Representing an optimal heading angle of the vehicle,In order for the filter coefficients to be of a type,In the form of an absolute attitude angle,For the high-frequency predicted attitude angle,For the absolute attitude angle in question,For the low-frequency predicted attitude angle, when k=3, a low-frequency course angle cannot be obtained according to the specific force information, so that a weighted average value of an absolute course angle and the low-frequency course angle cannot be used for correcting a high-frequency course angle, and therefore, a fusion algorithm formula executed by the attitude fusion module is corrected as follows:
;
further, the location fusion module is configured to pass through a formula Calculating the predicted positional deviationAnd pass through the formulaCalculating the optimal positional deviationWhereinFor the transformation matrix of the coordinate system,For the three-axis specific force information,The force vector of the gravity is used to determine,For the said absolute positional deviation it is provided that,Is a weight coefficient.
Compared with the prior art, the invention has the advantages that (1) the invention adopts the attitude determination method based on the data fusion of the ultrasonic wave and the inertial sensor, and effectively solves the technical problem that the existing laser guiding technology is easy to fail in the deep well high-dust and high-humidity environment. According to the invention, by establishing the first fixed coordinate system and the second carrier coordinate system, absolute position information is obtained by utilizing the physical characteristics of strong penetrability of ultrasonic waves in a medium and no influence of light and muddy water shielding, and auxiliary calculation is carried out by combining specific force information of an accelerometer and angular velocity information of a gyroscope. The technical means combining absolute measurement and inertial prediction not only overcomes the limitation of a single sensor in a severe environment, but also realizes real-time, continuous and high-robustness monitoring of the attitude of the vertical shaft heading machine through complementation of multi-source information, and ensures the verticality precision in the excavation process.
(2) According to the invention, through a space spherical intersection principle and a vector geometric calculation means, the geometric precision and the calculation efficiency of gesture calculation are obviously improved. The invention calculates the distance by using the propagation time between a plurality of ultrasonic receivers and transmitters, constructs a space spherical surface by taking the transmitters as circle centers and the propagation distance as radius, and obtains the absolute coordinates of the receivers under a fixed coordinate system by solving the spherical surface intersection point. On the basis, the invention further adopts a vector analysis means, utilizes the coordinates of the receiver to construct a non-collinear vector, and directly obtains a unit normal vector reflecting the inclination degree of the carrying platform through vector cross multiplication and normalization. The geometrical resolving mode converts the complex space attitude problem into visual vector operation, absolute roll angle, pitch angle and heading angle can be directly deduced, and the mode of multipoint measurement and average value obtaining effectively eliminates random errors of single-point measurement, and greatly improves the accuracy of angle measurement.
(3) The invention constructs a multisource data deviation fusion model based on a coordinate system transformation matrix, and realizes high-precision optimal estimation of the position and the posture of the heading machine. The invention uses the calculated attitude angle to construct a coordinate system conversion matrix, creatively converts the accelerometer specific force information under the carrier coordinate system into a fixed coordinate system, eliminates the influence of gravity components to obtain pure motion acceleration, and obtains a position prediction value through double integration. More importantly, the invention adopts a specific attitude angle and position deviation fusion algorithm, and periodically corrects the high-frequency predicted values of the gyroscope and the accelerometer by utilizing the low-frequency absolute observed value of the ultrasonic wave. The method not only plays the advantages of quick dynamic response and high bandwidth of the inertial sensor, but also utilizes the ultrasonic system to inhibit integral divergence, thereby outputting the optimal pose data with dynamic performance and long-term precision.
(4) The invention ensures the stability and the anti-interference capability of data processing to the maximum extent through the optimized filtering weight coefficient and the time sequence control mechanism. The invention sets the filter coefficient to be nine-eight zero specifically, and strictly matches the time step length of eight seconds and the data updating interval. On the other hand, the longer data updating step length is matched with a time-sharing transmitting strategy, so that the interference problem of ultrasonic multipath effect and echo aliasing in a long and narrow space of a shaft is effectively solved, the strict synchronization of the integral step length of inertial data and the absolute measurement updating period is ensured, and the system achieves the optimal operation stability on the premise of ensuring the accuracy.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
The invention will be more clearly understood from the following detailed description with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of an overall structure of a posture determining system of a shaft boring machine according to an embodiment of the present invention.
Fig. 2 is a schematic layout diagram of an attitude acquisition device and an ultrasonic receiver on a carrying platform according to an embodiment of the present invention.
FIG. 3 is a schematic view showing the calculation of roll angle based on measured specific force information of an accelerometer according to an embodiment of the invention.
FIG. 4 is a schematic diagram of calculating pitch angle based on measured specific force information of an accelerometer according to an embodiment of the invention.
Fig. 5 is a schematic diagram of the calculation of coordinates of an ultrasonic receiver according to ultrasonic ranging in an embodiment of the present invention.
FIG. 6 is a Y-Z plane projection of roll angle calculated from ultrasonic ranging in an embodiment of the present invention.
FIG. 7 is an X-Z plane projection of pitch angle calculated from ultrasonic ranging in an embodiment of the present invention.
FIG. 8 is an X-Y plane projection of course angle calculated from ultrasonic ranging in an embodiment of the present invention.
Fig. 9 is a flowchart of a gesture determination method provided by an embodiment of the present invention.
The figure shows that 1, an ultrasonic transmitter, 2, a computer, 3, a supporting platform, 4, an ultrasonic receiver, 5, an object carrying platform, 6, a control box, 7, a gyroscope, 8 and an accelerometer.
Detailed Description
The following detailed description of the technical solutions of the present application will be given by way of the accompanying drawings and specific embodiments, and it should be understood that the specific features of the embodiments and embodiments of the present application are detailed descriptions of the technical solutions of the present application, and not limiting the technical solutions of the present application, and that the embodiments and technical features of the embodiments of the present application may be combined with each other without conflict. The following examples are only for more clearly illustrating the technical aspects of the present application, and are not intended to limit the scope of the present application.
The term "and/or" is merely an association relationship describing the associated object, and means that three relationships may exist, for example, a and/or B may mean that a exists alone, while a and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
As shown in fig. 9, the present embodiment provides a method for determining the posture of a shaft boring machine, which specifically includes the steps of first establishing a first coordinate system for describing a spatial position and a second coordinate system for following the movement of the shaft boring machine by the computer 2. Specifically, the first coordinate system takes the center point of the shaft wellhead as the origin, the vertical downward direction is the positive Z-axis direction, the positive X-axis direction is horizontally directed to the right, the Y-axis is perpendicular to the X-axis and the Z-axis, the coordinate system is fixed, and an ideal posture is defined in the coordinate system, namely, the initial position deviation is recorded asThe initial roll angle, pitch angle and heading angle are recorded as. The second coordinate system takes the center of the carrying platform 5 as an origin, the Z-axis direction is downward along the axis of the central rigid column, the X-axis direction and the Y-axis direction are initially consistent with the X-axis direction and the Y-axis direction in the first coordinate system, and the coordinate system is transformed along with the movement and the rotation of the tunneling machine. During the installation of the accelerometer 8 and the gyroscope 7, the triaxial directions of the accelerometer 8 and the gyroscope 7 should be consistent with the triaxial directions in the first coordinate system.
Subsequently, data acquisition is performed. The control box 6 transmits detection instructions to the accelerometer 8 and the gyroscope 7 at a predetermined timing. The accelerometer 8 collects the projection sum of the motion acceleration and the gravity vector of the carrying platform 5 under the second coordinate system, namely specific force information, in a time interval of one data update, and specifically comprises、、Four groups are provided. The gyroscope 7 collects the instantaneous rotation speed, namely angular speed information, of the carrying platform 5 relative to the axis thereof in a time interval of one data update, and specifically comprises、、Four groups are provided.
Simultaneously, the control box 6 sequentially triggers 4 ultrasonic transmitters 1 mounted on the well wall to transmit ultrasonic waves downwards according to a preset optimal time sequence. In the first placeAn ultrasonic emitter 1 is taken as an example) The control box 6 is at the momentTransmitting instructions, the ultrasonic transmitter 1 transmits signals, and 3 ultrasonic receivers 4 (numbered) Receiving signals, and only retaining the effective signals received for the first time, recording the receiving time. To avoid interference of the previous transmission with the next measurement, the transmission interval of this embodiment is preferably 2 seconds, i.e. after confirming that all 3 ultrasonic receivers 4 have completed receiving signals, the next ultrasonic transmitter 1 is triggered again with a delay of about 2 seconds. The above process is circulated once to obtainTime data, thus data update time interval of whole systemFor 8 seconds. After the data acquisition is completed, the control box 6 performs preprocessing on the data. The control box 6 respectively averages the four groups of collected specific force information and four groups of angular velocity information, and uses the average specific forceAnd mean angular velocityRepresenting data within the time interval. Subsequently, the formula is usedCalculate the firstThe ultrasonic receiver 4 and the firstDistance between the ultrasonic transmitters 1WhereinIs the speed of sound,Is the propagation time.
As shown in fig. 5, the distance is utilizedThe spatial spherical surface is constructed with the ultrasonic transmitter 1 whose coordinates are known in the first coordinate system as a spherical center. For a single ultrasonic receiver 4, four spatial spheres intersect at a point in space, and the first is calculated based on this principleThe ultrasonic receiver 4 is at the firstAbsolute coordinates at the time of the secondary measurement. Then, according to the absolute coordinates of 3 ultrasonic receivers 4, calculating the current coordinates of the center of the carrying platform 5 by means of the average value. The current coordinates are setWith the initial platform coordinatesCalculating the difference value to obtain the absolute position deviation of the carrying platform 5。
As shown in fig. 6, 7 and 8, the absolute coordinates of the ultrasonic receiver 4 are based onAnd the current coordinates of the centre of the load platform 5Constructing two non-collinear vectorsAnd. The two non-collinear vectors are subjected to cross multiplication and normalization to obtain a unit normal vector perpendicular to the carrying platform 5. In an ideal vertical condition, the unit normal vector should be directed directly below, the deflection of which directly reflects the tilt of the load platform 5. Calculating an absolute attitude angle from the components of the unit normal vector, as shown in FIG. 6, an absolute roll angleFIG. 7 shows the absolute pitch angleAbsolute heading angle as shown in FIG. 8WhereinThe included angle between the initial installation position of the ultrasonic receiver 4 and the X axis is a fixed value. Meanwhile, the triaxial angular velocity information acquired by the gyroscope 7 is integrated) Obtaining a high-frequency predicted attitude angle, i.e. roll anglePitch angleAnd heading angle。
As shown in fig. 3 and 4, the specific force information acquired by the accelerometer 8Calculating a low-frequency predicted attitude angle, wherein a calculation formula is that the low-frequency roll angleLow frequency pitch angle。
Then, calculating the optimal attitude angle by utilizing an attitude angle fusion algorithmThe fusion formula is:
wherein, when k is 1, Representing the optimal roll angle, when k is taken to be 2,Representing the optimal pitch angle, when k is taken to be 3,Representing an optimal heading angle; For the filter coefficient, the embodiment is preferably set to 0.98, and is used for determining the weights of the gyroscope prediction data and the absolute observation data; in this embodiment, the interval between the time step and the update of the ultrasonic data is kept consistent and set to 8 seconds, when k=3, the low-frequency course angle cannot be obtained according to the specific force information, so that the weighted average value of the absolute course angle and the low-frequency course angle cannot be used for correcting the high-frequency course angle, and therefore, the fusion algorithm formula executed by the gesture fusion module is corrected as follows: According to the obtained optimal attitude angle Constructing a coordinate system transformation matrix:
Wherein, the method comprises the steps of,Representative of,Representative of. Transforming a matrix using the coordinate systemThe specific force information is processedConverting to the first coordinate system, removing the influence of gravity, and obtaining the predicted position deviation through double integral operationThe formula is:。
Finally, the predicted position deviation is calculated Deviation from the absolute positionFusing and calculating the optimal position deviationThe formula is: Wherein The value range is that the weight coefficient isThe present embodiment is preferred. The system repeats the above process toOutputs the optimal position deviation at intervals of timeAnd the optimal attitude angle is displayed through a data software interface of the computer 2.
As shown in fig. 1, the invention also provides a system for determining the attitude of a shaft heading machine, which is suitable for the method for determining the attitude of the shaft heading machine, and mainly comprises a computer 2, a control box 6, an ultrasonic transmitter 1 arranged on the wall of a shaft, an ultrasonic receiver 4 arranged on an object carrying platform 5 of the shaft heading machine, a gyroscope 7 and an accelerometer 8. The supporting platform 3 is of a multi-layer structure, and the supporting platform 3 is positioned above the carrying platform 5 in terms of height. The carrying platform 5 is used for installing a gesture acquisition module, and the gesture acquisition module comprises an accelerometer 8, a gyroscope 7 and a control box 6. The control box 6 is respectively in communication connection with the accelerometer 8, the gyroscope 7, the ultrasonic transmitter 1 and the ultrasonic receiver 4 through buses. The computer 2 is installed at the uppermost layer of the supporting platform 3, and is connected with the control box 6 through a bus, and is used for acquiring data in real time and resolving the gesture.
As shown in fig. 2, in order to obtain the absolute position information of the heading machine, the number of the ultrasonic transmitters 1 is set to be equal to or greater than 4, and the number of the ultrasonic transmitters is preferably 4 in this embodiment, and the ultrasonic transmitters are kept at the same height and are installed on the well wall which is already laid. In order to obtain absolute pose information of the heading machine in space, the number of the ultrasonic receivers 4 is set to be more than or equal to 2, and in this embodiment, 3 are preferable. The ultrasonic receivers 4 are circumferentially distributed and installed at the edge of the carrying platform 5, and are tightly connected with the carrying platform 5.
The system adopts circumferential distribution to install the ultrasonic receivers 4 at the edge of the carrying platform, and the layout mode maximizes the baseline distance between the receivers, so that the constructed spatial spherical intersection point is more accurate, and the sensitivity of normal vector calculation is improved. The system forms a stable receiving and transmitting array by matching with an ultrasonic transmitter 1 fixed on a well wall, and combines a control box with a preprocessing function and a computer terminal, so that the integrated operation from data acquisition, signal denoising to gesture display is realized, and a hardware solution with strong anti-interference capability and convenient installation and maintenance is provided for deep well tunneling engineering.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202511925482.6A CN121384035A (en) | 2025-12-19 | 2025-12-19 | Method and system for determining attitude of vertical shaft heading machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202511925482.6A CN121384035A (en) | 2025-12-19 | 2025-12-19 | Method and system for determining attitude of vertical shaft heading machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN121384035A true CN121384035A (en) | 2026-01-23 |
Family
ID=98462510
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202511925482.6A Pending CN121384035A (en) | 2025-12-19 | 2025-12-19 | Method and system for determining attitude of vertical shaft heading machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN121384035A (en) |
-
2025
- 2025-12-19 CN CN202511925482.6A patent/CN121384035A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6409687B1 (en) | Motion tracking system | |
| Zhao et al. | Motion measurement using inertial sensors, ultrasonic sensors, and magnetometers with extended kalman filter for data fusion | |
| CN111829512B (en) | AUV navigation and positioning method and system based on multi-sensor data fusion | |
| US20130138264A1 (en) | Automotive navigation system and method to utilize internal geometry of sensor position with respect to rear wheel axis | |
| CN103760584B (en) | A motion monitoring system for actual measurement of float-over installations | |
| CN110294080B (en) | A method to realize precise underwater operation by using ultra-short baseline | |
| CN107192983B (en) | Device, method and system for observing relative position of underwater vehicle | |
| CN116398111B (en) | Geological survey-oriented rock and soil layer drilling system and method | |
| CN110657808B (en) | Active target positioning method and system for airborne photoelectric pod | |
| CN112762935B (en) | Positioning method and system based on hull attitude monitoring | |
| CN110988949A (en) | Positioning method, positioning device, computer-readable storage medium and removable device | |
| CN110864692A (en) | Pose determination method of heading machine | |
| CN113514051A (en) | Deep water high-precision navigation positioning technology based on multi-method fusion | |
| CN108227744B (en) | An underwater robot positioning and navigation system and positioning and navigation method | |
| CN115993115A (en) | A method and system for collecting position and motion information of a photovoltaic cleaning robot | |
| CN119936885A (en) | Anti-interference target acoustic feature positioning system and method | |
| CN119902231A (en) | A method, system, device and medium for wind field inversion optimization of wind laser radar based on floating platform | |
| CN116539032B (en) | A SINS/DVL/USBL underwater tight integration navigation method based on centralized filtering | |
| CN110530324A (en) | A kind of modular architectural modular unit deformation performance detection method | |
| CN111141286A (en) | Unmanned aerial vehicle flight control multi-sensor attitude confidence resolving method | |
| CN121384035A (en) | Method and system for determining attitude of vertical shaft heading machine | |
| KR100868241B1 (en) | Indoor location tracking device using acceleration sensor | |
| CN112285756A (en) | High-precision positioning system and method based on IMU and Beidou system | |
| US20240310848A1 (en) | Apparatus and method for detecting indoor environment using unmanned mobile vehicle | |
| JP2022110446A (en) | Positioning accuracy output system and its server device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination |