CN204738816U - Autonomous positioning and orientation system and method for roadheader - Google Patents

Abstract

The utility model discloses an autonomous positioning and orientation system and method of a roadheader, belonging to the field of autonomous cruise of the roadheader. The system includes programmable computer controller; self-propelled positioning base station group; gyro north finder; 2 inclination sensors; 3 positioning boxes of roadheader body. Among them, the location of the positioning base station group relative to the roadway coordinate system is known. When the roadheader is moving, the ultra-wideband radio pulse ranging method is used to sequentially detect the three-dimensional coordinates of the three positioning boxes of the fuselage relative to the positioning base station group, and according to the three-dimensional coordinates , to solve the roadheader pose parameters. When the roadheader stops, the pose parameters of the roadheader are corrected again through the gyro north finder and the inclination sensor. When the traveling distance of the roadheader exceeds the effective detection range of the system. The four self-propelled positioning base stations move forward sequentially according to the self-calibration strategy, and update the three-dimensional coordinates of the base stations at the same time. Therefore, in the roadway excavation, the completely autonomous positioning and orientation of the roadheader is realized.

Description

Autonomous positioning and orientation system and method for roadheader

technical field

The utility model designs a roadheader in the field of roadway excavation, in particular to a roadheader autonomous positioning and orientation system and a method thereof.

Background technique

The roadheader is the core equipment to realize the excavation work of underground roadway. In the traditional underground roadway excavation process. The excavation route of the excavation machine is first drawn by the geological survey department, and the excavation direction of the excavation machine is controlled by the excavation machine driver according to the position of the laser spot emitted by the point laser pointer installed at the back of the tunnel to the rock wall in front of the tunnel. Due to the harsh environment of mine roadways, this excavation method is not only inefficient, but also has limited accuracy. In addition, the point laser pointing device is fixed on the roof behind the roadway, which is very troublesome to install, dismantle and calibrate, and greatly increases the work intensity and danger of mine workers.

With the progress of society, the safety of mine workers has received more and more attention. In recent years, some colleges and universities and other scientific research institutions have conducted some research on the problem of unmanned tunneling.

The publication number is "CN101266134A" and the patent name is "Cantilever Roadheader Head Pose Measurement System and Its Method". Location.

The publication number is "CN101392653A" and the patent name is "Three-dimensional Attitude Measurement Device for Tunnel Driving Construction Guidance System". This patent attempts to apply a total station and a CCD camera to the attitude measurement of a shield machine.

The publication number is "CN101975063A" and the patent name is "Laser Guided Positioning and Orientation Device and Method for Roadheader". This patent uses the original point laser pointing instrument of the roadway to install a laser receiver on the cantilever of the roadheader, and judge the position of the cantilever through the position of the light spot emitted by the point laser pointing instrument on the laser receiver, and then through the cantilever oil cylinder and The cantilever inclination sensor derives the pose information of the roadheader.

The publication number is "CN 102506770 A" and the patent name is "A device and method for detecting deflection angle of roadheader". In this patent, the line laser transmitter is installed on the center line of the roadheader, and the slide rail, stepper motor and laser receiver are installed on the roof behind the roadway. The stepper motor controls the movement of the laser receiver on the slide rail, aiming at capturing the The line laser emitted by the body. Thus, the deviation angle of the roadheader relative to the center line of the roadway can be calculated.

The publication number is "CN 102589514 A" and the patent name is "Measuring device for position and posture parameters of roadheader and its formula". The patent uses a point laser pointing device and two swingable rectangular light sensors installed on the body of the roadheader to calculate the pose parameters of the roadheader.

The above-mentioned methods have many things in common, that is, the roadway datum is first fixed behind the roadway. Then use point laser, line laser, infrared, etc. to measure, establish the geometric relationship between the coordinate system of the roadheader and the coordinate system of the roadway, and then obtain the positional relationship of the roadheader relative to the reference through mathematical calculation. However, these methods have many limitations:

(1) The underground environment is harsh and the dust is very large, which is not conducive to the transmission of infrared, laser and visible light, resulting in low measurement accuracy.

(2) The above-mentioned methods all need to manually establish the benchmark behind the roadway. When the excavation distance exceeds the effective measurement range of the system, the benchmark needs to be manually moved and calibrated again. The above-mentioned systems have only reached a semi-automation level, and mine workers are still in danger, unable to fundamentally liberate the labor force from the ground.

The publication number is "CN101169038A" and the patent name is "Full Automatic Roadheader". This patent attempts to apply the inertial navigation system to the positioning and orientation of the roadheader. The connection of roadway reference, and the error of inertial navigation system increases rapidly with the increase of system running time, which leads to system failure. Therefore, this system has great limitations and does not have practical value.

The publication number is "CN103123391A" and the patent name is "Roadhead Machine Wireless Navigation and Positioning System and Method". This patent has made certain innovation again compared with above-mentioned several methods. The patent uses two wireless node devices behind the roadway as a reference, and an anchor point is installed on the roadheader. The deviation of the roadheader is judged by measuring the difference between the distances from the two benchmarks to the anchor point. When the excavation distance exceeds the effective detection range, the roadheader will drop relay nodes to the ground to expand the effective detection range, but this method still has many limitations:

(1) The system can only detect whether the excavation route of the roadheader is a straight line on a two-dimensional plane. When the preset excavation route is an arc, the system cannot accurately determine the deviation between the roadheader route and the preset roadheader, that is System failure.

(2) In this system, the distance between the node and the positioning point of the roadheader is obtained by using the product of the flight time and the speed of light of radio waves with a frequency below 1Ghz between different wireless modules. However, there is a problem of clock asynchrony among different modules. Since the magnitude of the speed of light is very large, a small time error will greatly affect the accuracy of distance measurement. Therefore, the accuracy of the system is difficult to meet the national roadway forming standards.

(3) During the tunneling process of the roadheader, the system needs to install a node delivery device on the machine body and carry a large number of relay nodes. On the one hand, with the increase of the roadway distance, the system cost will also increase greatly. On the other hand, with the increase of the number of delivery nodes, the complexity and cumulative error of the system are also greatly increased.

(4) Due to the harsh environment of the roadway and the uneven ground, the tail of the roadheader also carries a scraper conveyor that moves forward randomly, and it is often accompanied by coal and rock collapse. Therefore, the deployed relay nodes are easy to be buried or damaged, and the damage of any relay node will lead to the failure of the entire system, so this method is not very practical.

In view of the various defects of the above utility model, in order to realize the completely autonomous excavation operation of the roadheader and completely rescue the mine staff from the heavy and dangerous work of the underground roadway, after continuous research and design, repeated tests and improvements, Finally create the utility model that really has practical value.

Utility model content

Technical problem: the main purpose of this utility model is to address the actual situation of the current fully mechanized excavation face in mine roadways and various defects in the positioning and orientation technology of existing roadheaders. A roadheader autonomous positioning and orientation system and method are proposed, which mainly include the technology of autonomous positioning of the three-dimensional coordinates of the roadheader, the technology of autonomous orientation of body pose parameters, the technology of autonomous forward moving of the benchmark and the technology of autonomous calibration. The aim is to realize that no manual participation is required during the entire roadway excavation process, and the roadheader can independently perform positioning and orientation.

Technical solution: the purpose of this utility model is achieved in this way: the positioning system includes: a programmable computer controller; a north finder; an inclination sensor; 4 self-propelled positioning base stations; , of which 3 ultra-broadband radio modules are fixed in the positioning box of the boring machine body, and the remaining 4 are respectively installed on 4 self-propelled positioning base stations. Four self-propelled positioning base stations are located behind the roadheader, serving as the benchmark for the positioning and orientation of the roadheader. The three-dimensional coordinates of the positioning base station relative to the starting point of the roadway are known, and are measured by the surveyors before the start of roadway excavation.

The self-positioning and directional system of the roadheader is characterized in that: the self-propelled positioning base station is composed of a wheeled walking device; 5-way infrared range finder; single-chip microcomputer; stepping motor; Radio module; composed of intrinsically safe batteries. Each module is connected with the single-chip microcomputer through the interface circuit and can communicate in real time, and is powered by the intrinsically safe battery.

The self-positioning and directional system of the roadheader is characterized in that: the ultra-wideband radio module is composed of a pulse circuit; a communication circuit; an antenna; a high-precision rubidium atomic clock; High frequency radio pulses. The communication circuit can modulate and demodulate radio signals, so as to realize two-way communication between multiple radio modules. High-precision atomic clocks can record the pulse emission and reception moments in real time.

The autonomous positioning and orientation system of the roadheader is characterized in that: a programmable computer controller, a gyro north finder, and two inclination sensors are installed in the electric control box of the roadheader body. The gyro north finder and the inclination sensor are connected with the programmable computer controller through the interface circuit, and can realize real-time communication.

The autonomous positioning and orientation system of the roadheader is characterized in that: the body positioning box of the roadheader includes one ultra-broadband radio module; three hydraulic shock-absorbing oil cylinders; and one umbrella-shaped rubber protective helmet. The ultra-broadband radio module is fixed on the surface of the roadheader body, and three hydraulic shock-absorbing cylinders are evenly distributed on the ultra-broadband radio module. One end of the shock-absorbing cylinder is fixed on the surface of the roadheader body, and the other end is connected to an umbrella-shaped rubber protective helmet.

The self-positioning and orientation system of the roadheader is characterized in that: there are three positioning boxes for the body of the roadheader, and an ultra-wideband radio module is installed in each box, and the interface circuit and the programmable computer in the electric control box The controllers are connected and realize real-time communication.

The roadheader autonomous positioning and orientation method of the described roadheader autonomous positioning and orientation system is:

(1) Before the roadheading machine starts, the coordinate relationship between the roadheading machine and the positioning base station group relative to the starting point of the roadway is measured by the geological survey department. When the roadway excavation starts, the positioning base station group remains static, and at the same time, the roadheader excavates forward according to the preset roadheader route.

(2) When the coordinates and pose information of the roadheader change, start the ultra-wideband radio module installed in the positioning base station group. The ultra-wideband radio module installed in the positioning box of the roadheader body sequentially transmits high-frequency ultra-wideband radio pulse signals of different pulse positions, and the pulse signals of different pulse positions represent different positioning base stations. When the pulse is launched, the high-precision rubidium atomic clock in the module records the launch time. When the fuselage radio module receives the pulse signal from the positioning base station, it immediately reflects a pulse signal with its own pulse position information to the positioning base station. When the positioning base station receives the pulse signal from the radio module of the fuselage, the high-precision rubidium atomic clock records the receiving time. The difference between the receiving time and the transmitting time in the rubidium atomic clock is the time for the electromagnetic wave to fly twice between the two modules.

(3) After being processed by the single-chip microcomputer installed in the positioning base station, the time information is converted into distance information, and then transmitted to the programmable computer controller in the electric control box of the roadheader through the communication circuit. According to the distance relationship between pairs of different radio modules, the three-dimensional coordinates and attitude information of the roadheader relative to the roadway are calculated. The attitude information includes the heading angle, pitch angle and roll angle of the roadheader.

(4) When the roadheader completes a unit length of the roadheader, it needs to be stopped for support. At the same time, start the gyro north finder and inclination sensor to calibrate the heading angle, pitch angle and roll angle of the roadheader.

(5) When the distance between the roadheader and the positioning base station group exceeds the effective detection range of the system, the self-propelled positioning base station group benchmark self-calibration program is started: first, the programmable computer controller is fitted according to the three-dimensional coordinate system of each positioning base station The base station walks the path, and transmits different path information to the corresponding positioning base station through the radio communication module. Each positioning base station moves in the direction of excavation sequentially through a single-chip microcomputer to control the stepping motor connected with the traveling device according to its own path information. After each self-propelled positioning base station has moved, it is paired with other positioning base stations in sequence, and the three-dimensional coordinates of the positioning base station group reference are updated after calculation by the programmable computer controller.

(6) When the self-propelled positioning base station group is moving, the infrared ranging module is activated. When the front encounters collapsed coal rocks and other obstacles, the obstacle avoidance movement is performed according to the information detected by the five-way infrared range finder. After the obstacle avoidance, re-plan the path until the positioning base station travels to the target point planned by the programmable computer controller.

(7) After the update of the reference coordinates of the positioning base station group is completed, the roadheader moves forward again based on the positioning base station group, so as to realize the autonomous positioning and orientation of the roadheader during the roadway excavation work.

Compared with the prior art, the self-positioning and orientation system and method of the roadheader of the utility model have obvious advantages and beneficial effects. By virtue of the above-mentioned technical solutions, the self-positioning and orientation system and method of the roadheader provided by the utility model can achieve considerable technical advancement and practicality, and have extensive industrial application value. It has at least the following advantages:

(1) The utility model uses ultra-wideband radio modules, self-propelled positioning base station groups, gyro north finders, inclination sensors, and programmable computer controllers to replace the traditional manual visual excavation methods, which solves the inaccuracy of traditional excavation. Digging serious problems and other problems have improved the quality and efficiency of roadway forming. It realizes the full autonomy of the positioning and orientation of the roadheader during the excavation process, and completely liberates the labor force from the heavy and dangerous working environment. And the system can monitor the position, attitude and attitude of the roadheader in real time, and fit the tunneling route of the roadheader.

(2) The self-positioning and directional system and method of the roadheader of the utility model utilize the ultra-wideband radio module with a rubidium atomic clock inside, and adopt the signal two-way time-of-flight ranging method, which greatly improves the positioning accuracy of the system. Within the detection range, the system positioning error Can be controlled within 2cm.

(3) The self-positioning and orientation system and method of the roadheader of the utility model install the high-precision gyro north finder and the inclination sensor in the electric control box, and start the high-precision gyro north finder and the inclination sensor when the roadheader stops for support Calibrate the autonomous positioning and orientation system of the roadheader, so that the system's position and attitude measurement accuracy can reach more than 0.1°.

(4) The autonomous positioning and orientation system and method of the roadheader of the present invention, the system positioning base station is composed of modules such as a walking device, an obstacle avoidance detection device, and a communication device. When the tunneling distance of the roadheader exceeds the maximum effective detection distance of the positioning base station, the positioning base station performs autonomous walking calibration, and the coordinates are updated independently during the calibration process. In this way, the high-precision autonomous forward movement of the positioning base station is realized. In this way, the continuous and independent coordinate positioning and pose detection of the roadheader can be realized.

To sum up, the purpose of the autonomous positioning and orientation system of the roadheader with special structure of the utility model is to propose a brand-new system and method for autonomous continuous positioning of the three-dimensional coordinates of the roadheader and continuous detection of body pose parameters, and when the roadheader stops supporting During maintenance, the system can be calibrated independently through the gyro north finder and the inclination sensor, which greatly improves the detection accuracy of the system. As the excavation distance of the roadheader increases, the positioning base station group can follow and advance autonomously, and automatically calibrate and update the coordinates. It can realize the complete autonomy of the positioning and orientation of the roadheader during the excavation process, pave the way for the realization of the autonomous cruise of the roadheader, and completely liberate the mine staff from the danger of roadway excavation work. The system is used in underground excavation fields such as mine roadway excavation, oil drilling exploration, subway roadway excavation, etc. It not only has high economic value, but also has good social value. It has the above-mentioned many advantages and practical value. Its independent positioning and orientation principle and structural design have not been published or practical, but it is indeed innovative. It has made a great breakthrough in the field of roadway independent excavation technology, and has produced easy-to-use and practical effects. , Sincerely a novel, progressive and practical new design.

The technical innovation of the self-positioning and orientation system and method thereof of the utility model of the above-mentioned structure constituted by the roadheader has many merits for the technicians in the same industry, and indeed has technological progress.

As mentioned above is the basic idea of the present utility model. However, within the technical field of the utility model, as long as the most basic knowledge is possessed, other operable embodiments of the utility model can be improved. In the utility model, a patent protection request is proposed for the substantive technical solution, and its protection scope should include all variations with the above-mentioned technical characteristics.

The above are only preferred embodiments of the present utility model, and do not limit the utility model in any form. Although the utility model has been disclosed as above with preferred embodiments, it is not intended to limit the utility model. Any Those who are familiar with this profession, without departing from the scope of the technical solution of the present utility model, can use the technical content disclosed above to make some changes or modify equivalent embodiments with equivalent changes, but all without departing from the technical solution of the utility model Any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the utility model still belong to the scope of the technical solution of the utility model.

Description of drawings

In the picture:

Fig. 1 is a system diagram of the utility model

Fig. 2 is a schematic diagram of the structure of the utility model

Figure 3 is a system diagram of the self-propelled positioning base station of the present invention

Figure 4 is a left and right isometric axonometric view of the positioning box of the body of the roadheader

Figure 5 is the front view of the positioning box of the roadheader body

Fig. 6 is a schematic diagram of the utility model mathematical model

Fig. 7 is a schematic diagram of the self-calibration method of the utility model

In the picture:

1: Tunneling machine 2: Self-propelled positioning base station group

3: Autonomous walking positioning base station 4: Autonomous walking positioning base station

5; Autonomous walking positioning base station 6: Autonomous walking positioning base station

7: Tunneling machine body positioning box 8: Tunneling machine body positioning box

9: Tunneling machine fuselage positioning box 10: Programmable computer controller

11: Gyro north finder 12: Inclination sensor

13: Inclination sensor 14: Wheeled walking device

15: Infrared range finder 16: Stepping motor

17: Single-chip microcomputer 18: Intrinsically safe battery

19: Base station UWB radio module 20: Microprocessor

21: Rubidium atomic clock 22: Communication circuit

23: Pulse circuit 24: Antenna

25: Locating radio transmissions between base stations

26: Radio transmission signal between the positioning base station and the positioning box of the roadheader body

27: Roadway boundary 28: Hydraulic damping cylinder

29: Body UWB radio module 30: Rubber protective helmet

31: Tunneling machine electric control box

Detailed ways

In order to further explain the technical means and effects of the utility model to achieve the intended purpose of the utility model, the specific implementation of the roadheader autonomous positioning and orientation system and its method proposed according to the utility model will be described below in conjunction with the accompanying drawings and preferred embodiments Mode, structure, feature and effect thereof are as follows in detail.

The aforementioned and other technical contents, features and effects of the present utility model will be clearly presented in the following detailed description of preferred embodiments with reference to the drawings. Through the description of the specific implementation mode, the technical means and effects of the utility model to achieve the predetermined purpose can be understood more deeply and specifically, but the attached drawings are only for reference and description, and are not used to explain the utility model. new restrictions.

The roadheader autonomous positioning and orientation system and method thereof of the preferred embodiment of the utility model, as shown in Figure 1, consists of autonomous walking type positioning base station group 2, roadheader fuselage positioning box (7,8,9), programmable computer Controller 10, gyro north finder 11, inclination sensor 12, and inclination sensor 13 are composed. The positioning box (7, 8, 9) of the roadheader body is installed on the roadheader body, and the programmable computer controller 10, the gyro north finder 11, the inclination sensor 12, and the inclination sensor 13 are installed in the electric control box of the roadheader body . Among them, the self-propelled positioning base station group 2 and the positioning box (7, 8, 9) of the roadheader body can perform two-wire wireless communication and distance measurement, the positioning box (7, 8, 9) of the roadheader body, the gyro north-seeking The instrument 11, the inclination sensor 12 and the inclination sensor 13 can be connected with the programmable computer controller 10 through a communication cable and have two-way communication.

As shown in FIG. 2 , the self-propelled base station group 2 is composed of self-propelled positioning base stations 3, 4, 5, and 6, and two-way communication and two-way distance measurement can be performed between the base stations 3, 4, 5, and 6. The base station 6 is placed at the floor of the roadway at the starting coordinates, and is positioned by two-way distance measurement between the base stations, thereby establishing a reference coordinate system. When the roadheader is driving forward, the base station and the ultra-wideband radio module in the positioning box of the roadheader perform radio ranging, and according to the positioning algorithm, the coordinates of the roadheader relative to the reference coordinate system are determined. And according to the coordinates of the three positioning boxes of the roadheader body, the pose parameters of the roadheader are calculated.

As shown in Figure 3, each base station consists of a wheeled walking device 14, five infrared rangefinders 15, a stepper motor 16, a single-chip microcomputer 17, an intrinsically safe battery 18, and a base station ultra-wideband radio module 19, wherein the base station ultra-wideband radio The module 19 is composed of a microprocessor 20 , a rubidium atomic clock 21 , a communication circuit 22 , a pulse circuit 23 and an antenna 24 . Wherein, the wheel type walking device 14 is made up of 4 small-sized damping tires, wherein 2 are connected with 2 stepper motors 16, and all the other 2 are driven wheels. The stepping motor 16 is connected with the single-chip microcomputer 17, and receives the stepping signal that the single-chip microcomputer 17 sends. Five infrared range finders 15 are connected with the single-chip microcomputer 17 and can transmit the distance information measured in different directions to the single-chip microcomputer 17. The ultra wideband radio module 19 is connected with the single chip microcomputer 17 and can carry out two-way communication. The power support of the single-chip microcomputer 17 , the stepping motor 16 , and the ultra-wideband radio module 19 is provided by an intrinsically safe battery 18 .

In the ultra-wideband radio module 19, the rubidium atomic clock 21, the communication circuit 22, and the pulse circuit 23 are respectively connected with the microprocessor 20 and can perform two-way communication. The communication circuit 22 and the pulse circuit 23 are respectively connected to the antenna 24 and can perform two-way communication. Among them, the communication circuit 22 can realize wireless communication between radio modules, and the pulse circuit 23 can transmit and receive ultra-wideband radio signals with a frequency in the order of 3.4-10.6Ghz.

As shown in Figures 4 and 5, the ultra-broadband radio module 29 of the roadheader body is installed on the body of the roadheader 1, and three hydraulic shock-absorbing cylinders 28 are installed around it, and the rubber protective helmet is installed on the upper part of the hydraulic shock-absorbing cylinder. This mechanism can effectively protect the UWB radio module of the fuselage from the collapsed coal rocks from above the roadway.

As shown in Figure 6(a), the reference coordinate system of the roadway is set to OXYZ. When the system is running, three positioning base stations are started to measure the distance of the three positioning boxes of the roadheader body in sequence. The distance measured by radio waves is represented by R, the heading angle is represented by α, the roll angle is represented by β, and the pitch angle is represented by θ.

As shown in Figure 6(b), the figure shows the top view XOY of the geometric model of the positioning system, base stations 4(X ₄ , Y ₄ , Z ₄ ), 5(X ₅ , Y ₅ , Z ₅ ), 6(X ₆ , Y ₆ , Z ₆ ) to point ₇ (X ₇ , _{Y 7} , Z ₇ ) are expressed as R ₄₇ , R ₅₇ , R ₆₇ . ₉ ) The distance table is expressed as R ₄₉ , R ₅₉ , R ₆₉ . According to the calculation, it can be concluded that the relationship between the desired parameter heading angle α and the original distance parameter is

$\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 47</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 57</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 67</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 49</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 59</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 69</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}\frac{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}}{{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 49</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 59</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 69</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 47</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 57</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 67</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right.$

When the value of α is positive, the heading machine is biased to the left.

When the value of α is negative, the heading machine is biased to the right.

Since the position of the fuselage positioning box on the roadheader is known and is rigidly connected with the roadheader, the coordinates of the positioning box are the coordinates of the roadheader. Take the positioning box 7 as an example:

$<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 67</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 47</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 57</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 69</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 49</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 59</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\left\{\begin{array}{c}{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 69</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 49</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 59</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 67</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 47</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 57</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right.$

As shown in Figure 6(c), the figure is the front view XOZ of the geometric model of the positioning system, base stations 4(X ₄ , Y ₄ , Z ₄ ), 5(X ₅ , Y ₅ , Z ₅ ), 6(X ₆ , Y ₆ , Z ₆ ) to point 7 (X ₇ , Y ₇ , Z ₇ ) in the sub-table expressed as R ₄₇ , R ₅₇ , R ₆₇ . Similarly, each base station to point 8 (X ₈ , Y ₈ , Z ₈ ) The distance table is expressed as R ₄₈ , R ₅₈ , R ₆₈ . According to the calculation, it can be concluded that the relationship between the roll angle β and the original parameters is as follows:

$\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 47</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 57</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 67</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 48</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 58</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 68</span>}<span\; class="notranslate">\; ,</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}\frac{{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 8</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}}{{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 8</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 47</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 57</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 67</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 8</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 8</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 8</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 48</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 8</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 8</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 8</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 58</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 8</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 8</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 8</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 68</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right.$

When the beta value is positive, scroll to the left.

When the beta value is negative, scroll to the right.

As shown in Figure 6(d), the figure is the side view YOZ of the positioning system geometric model, base stations 4(X ₄ , Y ₄ , Z ₄ ), 5(X ₅ , Y ₅ , Z ₅ ), 6(X ₆ , Y ₆ , Z ₆ ) to point 7 (X ₇ , Y ₇ , Z ₇ ) in the sub-table as R ₄₇ , R ₅₇ , R ₆₇ . Similarly, each base station to point 9 (X ₉ , Y ₉ , Z ₉ ) The distance table is expressed as R ₄₉ , R ₅₉ , R ₆₉ . According to the calculation, it can be concluded that the relationship between the pitch angle θ and the original parameters is

$\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 47</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 57</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 67</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 49</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 59</span>}<span\; class="notranslate">\; ,</span>}{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 69</span>}<span\; class="notranslate">\; ,</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}\frac{{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}}{{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 47</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 57</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 7</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 67</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 49</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 5</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 59</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Y</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 6</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 9</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; 69</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right.$

When the θ value is positive, the pitch is forward.

When the θ value is negative, the pitch is backwards.

The implementation steps of the roadheader autonomous positioning and orientation system and method are as follows:

(1) The self-propelled positioning base station group 2 is placed at the starting coordinates of the roadway, the starting coordinates of the roadway and the roadway excavation route are given by the surveyors, and input to the programmable computer controller in the electric control box 31 of the roadheading machine In step 10, the self-positioning and orientation program of the roadheader is started.

(2) The programmable computer controller 10 sends an activation command to the self-propelled positioning base station group 2 through the ultra-wideband radio module in the positioning box 7 of the boring machine body to start the base station group.

(3) In order to avoid signal conflicts among the modules, in a single ranging step, only two UWB radio modules are in the working state, and the other modules are in the dormant state.

(4) First activate the self-propelled positioning base station 3 and the ultra-wideband positioning box 7 of the fuselage. The single-chip microcomputer 17 (3) of the base station 3 sends a pulse ranging instruction to the ultra-wideband radio module 19 (3) of the base station, and after processing by the microprocessor 20 (3), sends a transmission instruction to the pulse circuit 23 (3), and at the same time, Send a timing instruction to the rubidium atomic clock 21(3). The pulse circuit transmits indiscriminate ultra-wideband radio waves to the surrounding space through the antenna 24(3).

(5) When the antenna 24 (7) in the fuselage ultra-wideband radio module 29 (7) in the positioning box 7 receives the ultra-wideband pulse signal sent from the antenna 24 (3) in the self-propelled positioning base station 3, The rubidium atomic clock 21 (7) in the positioning box 7 starts counting immediately, and after being processed by the microprocessor 20 (7), through the pulse circuit 23 (7) and the antenna 24 (7), the body ultra-wideband radio in the positioning box 7 Module 29 (7) sends an indiscriminate ultra-broadband radio wave to the surroundings once again, and the time packet from receiving the pulse to the re-emitting pulse of the positioning box 7 is attached in this wave, and the time packet is determined by the rubidium atomic clock 21 (7 in the positioning box 7 )supply.

(6) When the positioning base station 3 receives the ultra-wideband wireless pulse from the positioning box 7 to return to launch, the rubidium atomic clock 21 (3)

Record the receiving time, according to the formula Among them, R is the linear distance between the two modules, t3 is the receiving time, t1 is the transmitting time, t2 is the time packet, and c is the electromagnetic wave propagation speed. The microprocessor can obtain R ₃₇ after calculation. The obtained distance information R is transmitted to the programmable computer controller 10 through the communication circuit 22 and the antenna 24 .

(7) Similarly, the self-propelled positioning base station group 2 performs two-by-two distance measurement on the positioning boxes 7, 8, and 9 of the roadheader body in sequence, and sends the processed distance information R to the programmable computer controller 10 in sequence.

(8) The programmable computer controller 10 can obtain the body coordinates of the roadheader and the body heading angle α, roll angle β, and pitch angle θ after calculation.

(9) When the excavation distance of the roadheader exceeds the maximum detection range of the system, when the roadheader is stopped for support, start the coordinate translation program of the self-propelled positioning base station group.

(10) As shown in FIG. 7( a ), first, the programmable computer controller 10 plans the traveling distance of each base station according to the position of each base station, and sends them to the single-chip microcomputer 17 of each base station respectively. Then, the base stations 4, 5 and 6 remain in a static state, and the base station 3 controls the wheeled traveling device 14 to move forward through the stepping motor 16 according to the planned traveling distance. During the advancing process, the 5-way infrared distance measuring detector 15 keeps running, and when obstacles such as collapsing coal rocks are encountered in the front, the measured distance information is fed back to the single-chip microcomputer 17, and the left and right two stepping motors are controlled by the single-chip microcomputer 17 16 for obstacle avoidance walking. After the march is over, the base station 3 performs distance measurement with the base stations 4, 5, and 6 respectively, and the measured new distance relationship between the base station 3 and other base stations is settled into coordinates through the programmable computer controller, and is updated to the programmable computer controller 10 in the database.

(11) Similarly, as shown in Figure 7 (b) (c) (d), the autonomous walking positioning base stations 4, 5, and 6 move forward sequentially according to the planned path, and update the coordinates to the programmable computer controller 10 in the database. Complete the translation transformation of the reference coordinate system.

The technical innovation of the self-positioning and orientation system and method of the utility model roadheader with the above-mentioned such structure has many advantages for the technicians in the same industry, and it is indeed technologically progressive.

As mentioned above is the basic idea of the present utility model. However, within the technical field of the utility model, as long as the most basic knowledge is possessed, other operable embodiments of the utility model can be improved. In the utility model, a patent protection request is proposed for the substantive technical solution, and its protection scope should include all variations with the above-mentioned technical characteristics.

The above are only preferred embodiments of the present utility model, and do not limit the utility model in any form. Although the utility model has been disclosed as above with preferred embodiments, it is not intended to limit the utility model. Any Those who are familiar with this profession, without departing from the scope of the technical solution of the present utility model, can use the technical content disclosed above to make some changes or modify equivalent embodiments with equivalent changes, but all without departing from the technical solution of the utility model Any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the utility model still belong to the scope of the technical solution of the utility model.

Claims (6)

1. A roadheader autonomous positioning and orientation system is characterized in that: the system includes: a programmable computer controller, a gyro north finder, 2 inclination sensors, 4 self-propelled positioning base stations, and 7 self-propelled rubidium atomic clocks Ultra-wideband radio modules, of which 3 ultra-wideband radio modules are fixed in the positioning box of the roadheader body, and the remaining 4 are respectively installed on the 4 self-propelled positioning base stations; the 4 self-propelled positioning base stations are located behind the roadheader, as The benchmark for the positioning and orientation of the roadheader; the three-dimensional coordinates of the positioning base station relative to the starting point of the roadway are known, and are measured by the surveyor before the start of the roadway excavation. 2. The roadheader autonomous positioning and orientation system according to claim 1 is characterized in that: the self-propelled positioning base station consists of a wheeled walking device, a 5-way infrared range finder, a single-chip microcomputer, a stepping motor, a The ultra-wideband radio module of the precision rubidium atomic clock and the intrinsically safe battery are composed; each module is connected with the single-chip microcomputer through the interface circuit and can communicate in real time, and is powered by the intrinsically safe battery. 3. The self-positioning and directional system of the roadheader according to claim 1 is characterized in that: the ultra-wideband radio module is composed of a pulse circuit, a communication circuit, an antenna, and a high-precision rubidium atomic clock; the pulse circuit signal can be transmitted through the antenna for 3.4 -10.6Ghz high-frequency radio pulse; the communication circuit can modulate and demodulate the radio signal, so as to realize two-way communication between multiple radio modules; high precision such as an atomic clock can record the pulse transmission time and reception time in real time. 4. The roadheader autonomous positioning and orientation system according to claim 1 is characterized in that: a programmable computer controller, a gyro north finder, and 2 inclination sensors are installed in the roadheader fuselage electric control box; the gyro north finder And the inclination sensor is connected with the programmable computer controller through the interface circuit, and can realize real-time communication. 5. The autonomous positioning and orientation system of the roadheader according to claim 1, characterized in that: the body positioning box of the roadheader includes 1 ultra-broadband radio module; 3 hydraulic shock-absorbing oil cylinders; 1 umbrella-shaped rubber protective helmet One; the ultra-broadband radio module is fixed on the surface of the roadheader body, and three hydraulic shock-absorbing cylinders are evenly distributed on the ultra-broadband radio module. One end of the shock-absorbing cylinder is fixed on the surface of the roadheader body, and the other end is connected to an umbrella-shaped rubber protective helmet. 6. The autonomous positioning and orientation system of the roadheader according to claim 1, characterized in that: there are 3 positioning boxes for the body of the roadheader, and an ultra-wideband radio module is installed in each box, and through the interface circuit and the electric control The programmable computer controller in the box is connected to realize real-time communication.