CN210268669U - Inertial navigation positioning system for underground mining mobile equipment - Google Patents
Inertial navigation positioning system for underground mining mobile equipment Download PDFInfo
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- CN210268669U CN210268669U CN201921376475.5U CN201921376475U CN210268669U CN 210268669 U CN210268669 U CN 210268669U CN 201921376475 U CN201921376475 U CN 201921376475U CN 210268669 U CN210268669 U CN 210268669U
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Abstract
The inertial navigation positioning system for the underground mining mobile equipment comprises a triaxial integrated optical fiber inertial measurement device, an upper computer comprehensive display and control device and a power supply, wherein a mileage meter and a photoelectric camera are arranged, the mileage meter, the triaxial integrated optical fiber inertial measurement device and the upper computer comprehensive display and control device are connected and fixedly arranged on the underground mining mobile equipment, the photoelectric camera is hinged and fixed on a hydraulic support on one side of the underground mining mobile equipment through a fixing support, and the shooting direction faces the running direction of the underground mining mobile equipment. The pose information of the underground mining mobile equipment measured by the mileage gauge is corrected by the inertial navigation algorithm according to the measurement error of the inertial measurement device, so that the accuracy of attitude navigation calculation can be improved, the navigation measurement accuracy of the underground mining mobile equipment can be greatly improved on the premise of not greatly improving the cost, the working efficiency and the safety of the underground mining mobile equipment can be improved, and the unmanned operation requirement can be met.
Description
Technical Field
The utility model relates to a navigation positioning especially relates to an it is used to navigation positioning system to dig mobile device in the ground.
Background
The existing straightness measuring technology of the working face of the underground mining mobile equipment, such as vision measurement, stroke measurement and the like, has vision blind areas, and the measured data only reflects the displacement deviation of adjacent supports. Due to the special and complicated environmental conditions under the ground, the usually adopted mechanical or optical measuring system is difficult to accurately measure the motion track of the mobile equipment for underground mining, the position of the mobile equipment for underground mining cannot be determined, and the purpose of enabling the mobile equipment to run according to the set route through automatic control cannot be achieved. The inertial navigation is adopted to measure the motion track of the underground mining mobile equipment on the working face, so that the aim of enabling the underground mining mobile equipment to run according to the set route through automatic control can be achieved.
A Strapdown Inertial Navigation System (SINS) is a frameless navigation parameter resolving system developed on the basis of a platform type inertial navigation system, a three-axis integrated optical fiber inertial measurement device adopted by the SINS consists of three high-precision optical gyroscopes, three accelerometers and a microprocessor, and the three high-precision optical gyroscopes and the three accelerometers are accurately combined according to X, Y, Z axes of a station center rectangular coordinate system of underground mining mobile equipment and fixedly connected to the underground mining mobile equipment. The system establishes a navigation measurement coordinate system based on the output of three high-precision optical gyroscopes, and calculates the course, speed and pose information of a carrier under the navigation measurement coordinate system through high-speed integral solution based on the output of three accelerometers. Because the triaxial integral optical fiber inertia measuring device needs to carry out initial alignment before entering a measuring working state, a standing center rectangular coordinate system (also called east-north-sky coordinate system) of the underground mining mobile equipment, namely the speed and pose information of a working platform coordinate system, is converted into a navigation measuring coordinate system of an inertial navigation system, the working platform coordinate system is determined to be coincident with the navigation measuring coordinate system, and an algorithm for carrying out the initial alignment needs to obtain the ground speed of the underground mining mobile equipment, however, the working scene of the underground mining mobile equipment is changed, the attitude angle comprising a course angle, a pitch angle and a roll angle has errors, which can cause inaccurate detection results, and the drift errors of three high-precision optical gyroscopes and the measuring errors of three accelerometers can be gradually accumulated along with time, and the integral optical fiber inertia measuring device can cause objective accumulated errors when running for a long time, the target analysis and speed detection of mobile equipment for underground mining are seriously influenced. Further, as the degree of automation of the mining face increases, higher demands are made on the accuracy and stability of the underground mining mobile equipment, and the installation error angle of the underground mining mobile equipment has a large influence on the stability of the system to some extent, and it is necessary to perform error compensation and error correction.
Disclosure of Invention
The utility model aims to solve the technical problem that compensate above-mentioned prior art's defect, provide an underground digs inertial navigation positioning system for mobile device.
The utility model discloses an underground is excavated mobile device and is solved through following technical scheme with inertial navigation positioning system technical problem.
The inertial navigation positioning system for the underground mining mobile equipment,
the three high-precision optical fiber inertia measuring device is characterized by comprising a three-axis integrated optical fiber inertia measuring device, wherein the three-axis integrated optical fiber inertia measuring device consists of three high-precision optical gyroscopes, three accelerometers and a microprocessor, the three high-precision optical gyroscopes and the three accelerometers are fixedly connected to the underground mining mobile equipment according to X, Y, Z-axis accurate combination of a station center rectangular coordinate system of the underground mining mobile equipment, the three high-precision optical gyroscopes and the three accelerometers are initially aligned before entering a measuring working state, speed and pose information of the station center rectangular coordinate system of the underground mining mobile equipment are converted into a navigation measuring coordinate system of an inertial navigation positioning system, and the station center rectangular coordinate system and the navigation measuring coordinate system are determined to be synthesized Y, Z, real-time angular rates of movement, real-time acceleration in three directions of the axis, and transmitting the measured values to the microprocessor, the microprocessor adopts an inertial navigation algorithm to calculate, calculates attitude angles including a course angle, a pitch angle and a roll angle, converts specific force components of a station center rectangular coordinate system measured by three accelerometers into a navigation measurement coordinate system, solving a specific force equation through integration under a navigation measurement coordinate system to obtain the speed of the underground mining mobile equipment relative to the earth, obtaining the pose information of the underground mining mobile equipment by the speed integral of the underground mining mobile equipment relative to the earth under the station center rectangular coordinate system, and correcting the measurement error of the triaxial integrated optical fiber inertia measurement device by adopting a Kalman filter, the triaxial integrated optical fiber inertia measurement device also eliminates the accumulated error of the system through a zero-speed correction algorithm.
The system also comprises an upper computer comprehensive display and control device, the upper computer comprehensive display and control device comprises a navigation computer and a touch screen, the navigation computer is connected with the microprocessor through a communication interface to establish data communication, track fitting is carried out according to a positioning result of the three-axis integrated optical fiber inertia measuring device, a state equation is established by combining an error model after inertial navigation rough alignment, filtering fusion is carried out, the operation track of the underground mining mobile equipment is obtained through data fusion operation positioning, the touch screen displays position and attitude information including mining depth, track deviation and attitude angles including course angle, pitch angle and roll angle through graphs and diagrams, a horizontal operation curve of the underground mining mobile equipment and a yaw angle in the actual operation process are also displayed, iterative dereferencing is carried out by comparing a track fitting algorithm with a preset mining track, and the deviation amount of each support is iteratively calculated by combining the support layout of the underground mining mobile equipment, meanwhile, positioning control is realized on the underground mining mobile equipment, and the underground mining mobile equipment runs and works along a positioning control track by means of a self-adaptive function.
Also includes a power supply.
The inertial navigation positioning system for the underground mining mobile equipment is characterized in that:
the device is also provided with a mileage gauge which is respectively connected with the triaxial integrated optical fiber inertia measuring device and the upper computer comprehensive display and control device through communication interfaces and is fixedly arranged on a driving system of the underground mining mobile equipment to measure the real-time pose information of the underground mining mobile equipment including the moving distance and the moving speed, and the real-time pose information is transmitted to the upper computer comprehensive display and control device through the communication interfaces, the mileage gauge and three high-precision optical gyroscopes form a dead reckoning system, the pose information of the underground mining mobile equipment measured by the mileage gauge is adopted to correct the measurement error of the triaxial integrated optical fiber inertia measuring device through an inertial navigation algorithm, and the three high-precision optical gyroscopes and the three accelerometers carry out error compensation through the precise pose information provided by the mileage gauge so as to improve the precision of the pose navigation solution, in the ground which can not be detected by satellite navigation, a mileage recorder is adopted to introduce the geographic coordinate information fusion positioning of the ground excavation mobile equipment, so that the precise positioning and motion track resolving of the ground excavation mobile equipment are realized, and the navigation measurement precision of the ground excavation mobile equipment is greatly improved.
The underground mining mobile equipment is characterized by further comprising a photoelectric camera which is hinged and fixed on a hydraulic support on one side of the underground mining mobile equipment through a fixing support, the shooting direction of the photoelectric camera faces the running direction of the underground mining mobile equipment, the photoelectric camera shoots images of a working face environment where the underground mining mobile equipment is located at a shooting frequency of 25 frames/s and transmits the shot images to the microprocessor, when the underground mining mobile equipment moves in the shooting environment, the shot target images change, and the moving direction of the underground mining mobile equipment is determined according to the moving direction of the underground mining mobile equipment for positioning.
The utility model discloses an underground is excavated mobile device and is solved through following further technical scheme with inertial navigation positioning system technical problem.
The triaxial integrated optical fiber inertia measurement device is characterized by further comprising an explosion-proof box, wherein the triaxial integrated optical fiber inertia measurement device is installed in the explosion-proof box, and the explosion-proof box is fixedly installed on the machine body of the underground mining mobile equipment through a fixing support.
The explosion-proof box is designed according to the specifications and standards of the explosion-proof box special for the underground mining mobile equipment, and the external power supply voltage of the explosion-proof box is as follows: 24V DC; the external dimension is as follows: the length multiplied by the width multiplied by the height is less than or equal to 400mm multiplied by 250mm multiplied by 200 mm.
The fixed bolster is the adjustable flexible supporting skeleton of forked tail cell type that is equipped with cylinder rubber shock pad, cylinder rubber shock pad symmetry is fixed explosion-proof box bottom portion.
The power supply is an explosion-proof USB power supply and is used for ensuring the reliable operation of the triaxial integrated optical fiber inertia measurement device for supplying power under the ground.
The utility model discloses an underground is excavated mobile device and is solved through following further technical scheme again with inertial navigation positioning system technical problem.
The microprocessor comprises a microprocessor unit module, a communication module, an alarm module, a data storage module, an isolation circuit and a power supply module, wherein the microprocessor unit module is respectively connected with the communication module, the alarm module, the data storage module, the isolation circuit and the power supply module.
The micro-processing unit module adopts a singlechip with a Digital Signal Processor (DSP) function, which is produced by Texas Instruments (TI) company, the application program is transferred into a navigation Processor of the upper computer comprehensive display and control device from a ROM through a bus for data processing, a processing result is returned to the bus again, and error compensation, auxiliary Signal tracking loop, measurement information display, control system transmission and external communication interface are carried out on the triaxial integrated optical fiber inertia measurement device.
Preferably, the micro-processing unit module is one of a single chip microcomputer with the model number of 80196, a single chip microcomputer with the model number of 8086 and a single chip microcomputer with the model number of 8087.
The three high-precision optical gyroscopes are three inertial-level optical gyroscopes with random drift stability of 0.01 degree/h, and the high-precision inertial-level optical gyroscopes meet the positioning precision requirement of underground mining mobile equipment and are favorable for cost control.
The three accelerometers are scale factor stable 10-4The three accelerometers are based on the basic principle of acceleration, take the geomagnetic line as an absolute reference object, and accurately measure the course, the speed and the pose information of the underground mining mobile equipment under the condition of no external force acceleration.
The navigation computer is a navigation computer embedded with data analysis fitting and processing software, the data analysis fitting and processing software is DSP software, and comprises an external communication Interface module, an operation mode analysis module, an underground mining mobile equipment state adjusting module, a fault self-checking module and an internal communication Interface module which are developed on a Code designer suite (CCS) platform by adopting C language, wherein the external communication Interface module, the operation mode analysis module, the underground mining mobile equipment state adjusting module, the fault self-checking module and the internal communication Interface module are called and operated mutually through an Application Programming Interface (API).
Compared with the prior art, the utility model beneficial effect be:
the utility model discloses a mileage recorder measuring subsurface excavation mobile device position appearance information, rectify the integrative optic fibre inertia measuring device's of triaxial measuring error through inertial navigation algorithm, can improve the precision that the gesture navigation was solved, it has poor to effectively solve simple adoption inertial navigation location, stability and reliability, and the problem of the continuous increase of accumulative error, realize that the subsurface excavation mobile device positioner carries out error compensation rather than the inertial navigation between the angle of installation between the inertial navigation under the prerequisite that need not increase substantially the cost, error correction, accurate positioning and autonomous navigation, increase substantially the navigation measurement accuracy of the subsurface excavation mobile device, and the work efficiency and the security of the subsurface excavation mobile device, can adapt to unmanned operation needs. The method has the advantages of strong environment adaptability, good real-time stability, higher navigation precision, higher safety, higher efficiency, smaller volume and lower cost.
Drawings
Fig. 1 is a block diagram of an inertial navigation positioning system according to an embodiment of the present invention.
Detailed Description
The present invention will be described with reference to the accompanying drawings in conjunction with the following embodiments.
An inertial navigation positioning system for mobile equipment for underground mining as shown in fig. 1 comprises a three-axis integrated optical fiber inertial measurement unit 2, wherein the three-axis integrated optical fiber inertial measurement unit 2 comprises three high-precision optical gyroscopes 21, three accelerometers 22 and a microprocessor 23.
The three high-precision optical gyroscopes 21 are inertial-level optical gyroscopes with random drift stability of 0.01 degree/h, the high-precision inertial-level optical gyroscopes meet the positioning precision requirement of mobile equipment for underground mining and are favorable for cost control, and the three accelerometers 22 have scale factor stability of 10-4And the accelerometer is in mv/g order of magnitude, takes the geomagnetic line as an absolute reference object based on the basic principle of acceleration, and accurately measures the course, the speed and the pose information of the underground mining mobile equipment 1 under the condition of no external force acceleration.
The three high-precision optical gyroscopes 21 and the three accelerometers 22 are accurately combined according to X, Y, Z axes of the station center rectangular coordinate system of the underground mining mobile equipment 1 and fixedly connected to the underground mining mobile equipment 1, the three-axis integrated optical fiber inertia measurement device 2 performs initial alignment before entering a measurement working state, speed and pose information of the station center rectangular coordinate system of the underground mining mobile equipment 1 is converted into a navigation measurement coordinate system of an inertial navigation positioning system, the station center rectangular coordinate system and the navigation measurement coordinate system are determined to be synthesized, the three high-precision optical gyroscopes 21 and the three accelerometers 22 are inertia sensitive devices, respectively for X of the station center rectangular coordinate system of the underground mining mobile equipment 1, y, Z the real-time angular velocity and real-time acceleration of the movement in the three directions of the axis are measured and the measured values are transmitted to the microprocessor 23. The microprocessor 23 comprises a microprocessor unit module, a communication module, an alarm module, a data storage module, an isolation circuit and a power supply module, wherein the microprocessor unit module is respectively connected with the communication module, the alarm module, the data storage module, the isolation circuit and the power supply module, the microprocessor unit module adopts a singlechip with a DSP function and model number of 80196, which is produced by American TI company, transfers an application program into a navigation processor of the upper computer comprehensive display and control device 5 for data processing through a bus from a ROM, and returns a processing result to the bus again to perform error compensation, auxiliary signal tracking loop, measurement information display, control system transmission and an external communication interface on the triaxial integrated optical fiber inertia measurement device 2.
The microprocessor 23 adopts an inertial navigation algorithm to perform resolving, calculates attitude angles including a course angle, a pitch angle and a roll angle, converts specific force components of a station center rectangular coordinate system measured by the three accelerometers 22 into a navigation measurement coordinate system, solves a specific force equation through integration in the navigation measurement coordinate system to obtain the speed of the underground mining mobile equipment 1 relative to the earth, obtains pose information of the underground mining mobile equipment 1 through the speed integration of the underground mining mobile equipment 1 relative to the earth in the station center rectangular coordinate system, corrects measurement errors of the triaxial integrated optical fiber inertial measurement device 2 by adopting a Kalman filter, and eliminates accumulated errors of the system through a zero-speed correction algorithm by the triaxial integrated optical fiber inertial measurement device 2.
The inertial navigation positioning system of the embodiment further comprises an upper computer comprehensive display and control device 5, the upper computer comprehensive display and control device 5 comprises a navigation computer and a touch screen, the navigation computer is a navigation computer embedded with data analysis fitting and processing software, the data analysis fitting and processing software is DSP software, and comprises an external communication interface module, an operation mode analysis module, a subsurface excavation mobile equipment state adjusting module, a fault self-checking module and an internal communication interface module which are developed on a CCS platform of a code design kit by adopting C language, the external communication interface module, the operation mode analysis module, the subsurface excavation mobile equipment state adjusting module, the fault self-checking module and the internal communication interface module are called to operate mutually through API, the navigation computer of the upper computer comprehensive display and control device 5 is connected with the microprocessor 23 through a communication interface, establishing data communication, performing track fitting according to a positioning result of the triaxial integrated optical fiber inertia measuring device 2, establishing a state equation by combining an error model after inertial navigation coarse alignment, performing filtering fusion, performing data fusion operation positioning to obtain a running track of the underground mining mobile equipment 1, displaying the running track of the underground mining mobile equipment 1 by a touch screen through graphs and diagrams, wherein the graph comprises mining depth and track deviation, and attitude and pose information including a course angle, a pitch angle, and a roll angle, and also displays a horizontal running curve of the underground mining mobile device 1 and a yaw angle in an actual running process, iterative values are compared with a preset excavation track through a track fitting algorithm, the deviation amount of each support is iteratively calculated by combining the support layout of the underground excavation mobile equipment 1, and meanwhile, the positioning control is realized for the underground mining mobile equipment 1, and the underground mining mobile equipment 1 runs and works along the positioning control track by means of the self-adaptive function.
The inertial navigation positioning system of the embodiment also comprises an explosion-proof USB power supply 6 for ensuring the reliable operation of the triaxial integrated optical fiber inertial measurement unit 2 for supplying power under the ground,
the inertial navigation positioning system of the embodiment is also provided with a mileage gauge 3, the mileage gauge 3 is respectively connected with a three-axis integrated optical fiber inertial measurement device 2 and an upper computer integrated display and control device 5 through communication interfaces, and is fixedly arranged on a driving system of the underground mining mobile equipment 1, real-time pose information of the underground mining mobile equipment 1 including moving distance and speed is measured, the real-time pose information is transmitted to the upper computer integrated display and control device 5 through the communication interfaces, the mileage gauge 3 and three high-precision optical gyroscopes 21 form a dead reckoning system, the pose information of the underground mining mobile equipment 1 measured by the mileage gauge 3 is adopted, the measurement error of the three-axis integrated optical fiber inertial measurement device 2 is corrected through an inertial navigation algorithm, and the three high-precision optical gyroscopes 21 and three accelerometers 22 carry out error compensation through the precise pose information provided by the mileage gauge 3, in order to improve the accuracy of attitude navigation solution, in the ground which can not be detected by satellite navigation, the mileometer 3 is adopted to introduce the geographic coordinate information fusion positioning of the ground excavation mobile equipment 1, so that the accurate positioning and motion trail solution of the ground excavation mobile equipment 1 are realized, and the navigation measurement accuracy of the ground excavation mobile equipment is greatly improved.
The inertial navigation positioning system of the embodiment is further provided with a photoelectric camera 4, the photoelectric camera 4 is hinged and fixed on a hydraulic support on one side of the underground mining mobile equipment 1 through a fixing support, the shooting direction of the photoelectric camera 4 faces the running direction of the underground mining mobile equipment 1, the photoelectric camera 4 shoots images of the working face environment where the underground mining mobile equipment 1 is located, the shooting frequency is 25 frames/s, the shot images are transmitted to the microprocessor 23, when the underground mining mobile equipment 1 moves in the shooting environment, the shot target images change, the moving direction of the underground mining mobile equipment 1 is determined according to the moving direction of the underground mining mobile equipment 1, and positioning is carried out.
The inertial navigation positioning system of this embodiment is further provided with an explosion-proof box 7 designed according to the specifications and standards of the special explosion-proof box for the mobile equipment 1 to be excavated in the ground, and the external power supply voltage of the explosion-proof box 7 is: 24V DC; the external dimension is as follows: the length multiplied by the width multiplied by the height is less than or equal to 400mm multiplied by 250mm multiplied by 200 mm. The triaxial integrated optical fiber inertia measurement device 2 is installed in an explosion-proof box 7, and the explosion-proof box 7 is installed and fixed on the machine body of the underground mining mobile equipment 1 through a fixed support. The fixed bolster is the adjustable flexible supporting skeleton of forked tail cell type that is equipped with cylinder rubber shock pad, and cylinder rubber shock pad symmetry is fixed in explosion-proof box 7 bottom.
In the specific embodiment, the pose information of the underground mining mobile equipment measured by the mileage gauge is used for correcting the measurement error of the triaxial integrated optical fiber inertia measurement device through an inertial navigation algorithm. The method has the advantages that the mounting angle between the positioning device of the underground mining mobile equipment and the inertial navigation of the positioning device of the underground mining mobile equipment is subjected to error compensation, error correction, accurate positioning and autonomous navigation on the premise of not greatly increasing the cost, the navigation measurement precision of the underground mining mobile equipment is greatly increased, the working efficiency and the safety of the underground mining mobile equipment are improved, and the unmanned operation requirement can be met. Trial shows that the maximum straightness measurement error of the working face of the underground mining mobile equipment is 90mm, the average error is 60mm, and the elevation measurement error is 20mm by adopting the fusion positioning of the mileage gauge and the three-axis integrated optical fiber inertia measurement device, and meets the requirements of the straightness measurement accuracy and the navigation accuracy of the working face.
The foregoing is a more detailed description of the present invention, taken in conjunction with the specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments shown and described. For those skilled in the art to which the invention pertains, if any equivalent substitution or obvious modification is made without departing from the spirit of the invention, and if the performance or use is the same, all should be considered as belonging to the scope of the invention as determined by the claims as filed.
Claims (8)
1. An inertial navigation positioning system for underground mining mobile equipment,
the three-axis integrated optical fiber inertia measurement device is composed of three high-precision optical gyroscopes, three accelerometers and a microprocessor, wherein the three high-precision optical gyroscopes and the three accelerometers are accurately combined according to X, Y, Z axes of a station center rectangular coordinate system of the underground mining mobile equipment and are fixedly connected to the underground mining mobile equipment;
the system also comprises an upper computer comprehensive display and control device, wherein the upper computer comprehensive display and control device comprises a navigation computer and a touch screen, and the navigation computer is connected with the microprocessor through a communication interface;
the device also comprises a power supply;
the method is characterized in that:
the three-axis integrated optical fiber inertia measuring device is characterized by also comprising a mileage meter, wherein the mileage meter is respectively connected with the three-axis integrated optical fiber inertia measuring device and the upper computer comprehensive display and control device through communication interfaces and is fixedly arranged on a driving system of underground mining mobile equipment;
the underground mining mobile equipment is characterized by further comprising a photoelectric camera, wherein the photoelectric camera is hinged and fixed on the hydraulic support on one side of the underground mining mobile equipment through a fixing support, and the shooting direction of the photoelectric camera faces the running direction of the underground mining mobile equipment.
2. The inertial navigation positioning system for a subsurface mining mobile device of claim 1, wherein:
the triaxial integrated optical fiber inertia measurement device is characterized by further comprising an explosion-proof box, wherein the triaxial integrated optical fiber inertia measurement device is installed in the explosion-proof box, and the explosion-proof box is fixedly installed on the machine body of the underground mining mobile equipment through a fixing support.
3. The inertial navigation positioning system for a subsurface mining mobile device of claim 1, wherein:
the power supply is an explosion-proof USB power supply.
4. The inertial navigation positioning system for a subsurface mining mobile device of claim 1, wherein:
the microprocessor comprises a microprocessor unit module, a communication module, an alarm module, a data storage module, an isolation circuit and a power supply module, wherein the microprocessor unit module is respectively connected with the communication module, the alarm module, the data storage module, the isolation circuit and the power supply module;
the micro-processing unit module adopts a singlechip with the DSP function.
5. The inertial navigation positioning system for a subsurface mining mobile device of claim 1, wherein:
the three high-precision optical gyroscopes are inertia-level three optical gyroscopes with random drift stability of 0.01 degree/h.
6. The inertial navigation positioning system for a subsurface mining mobile device of claim 1, wherein:
the three accelerometers are scale factor stable 10-4Three accelerometers of the order of mv/g.
7. The inertial navigation positioning system for a subsurface mining mobile device of claim 2, wherein:
the explosion-proof box is designed according to the specifications and standards of the explosion-proof box special for the underground mining mobile equipment, and the external power supply voltage of the explosion-proof box is as follows: 24V DC; the external dimension is as follows: the length multiplied by the width multiplied by the height is less than or equal to 400mm multiplied by 250mm multiplied by 200 mm.
8. The inertial navigation positioning system for a subsurface mining mobile device of claim 2, wherein:
the fixed bolster is the adjustable flexible supporting skeleton of forked tail cell type that is equipped with cylinder rubber shock pad, cylinder rubber shock pad symmetry is fixed explosion-proof box bottom portion.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110411444A (en) * | 2019-08-22 | 2019-11-05 | 深圳赛奥航空科技有限公司 | A kind of subsurface digging mobile device inertia navigation positioning system and localization method |
| CN111878056A (en) * | 2020-05-11 | 2020-11-03 | 中国科学院地质与地球物理研究所 | Gyro measurement while drilling system and method |
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2019
- 2019-08-22 CN CN201921376475.5U patent/CN210268669U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110411444A (en) * | 2019-08-22 | 2019-11-05 | 深圳赛奥航空科技有限公司 | A kind of subsurface digging mobile device inertia navigation positioning system and localization method |
| CN110411444B (en) * | 2019-08-22 | 2024-01-09 | 深圳赛奥航空科技有限公司 | Inertial navigation positioning system and positioning method for underground mining mobile equipment |
| CN111878056A (en) * | 2020-05-11 | 2020-11-03 | 中国科学院地质与地球物理研究所 | Gyro measurement while drilling system and method |
| CN111878056B (en) * | 2020-05-11 | 2021-04-13 | 中国科学院地质与地球物理研究所 | Gyro measurement while drilling system and method |
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