为符合安全高效生产对掘进机作业的要求,提出了一种面向掘进机的超宽带位姿协同检测方法。依据TDOA(波达时间差)定位原理及P440模块的测距信息建立定位模型,利用协同定位算法得到定位点坐标的最终估计值。对比Chan算法与协同算法的定位点仿真分布,并分析协同算法的三轴定位精度。建立了空间全断面定位误差场,得出协同算法的空间定位精度变化规律。对机身定位点进行布局设计,解算得到掘进机的姿态角。结果表明:在90 m范围内,协同算法的Y轴定位误差基本上可以保持2 mm,而X轴、Z轴定位误差由0. 4至4 cm呈线性增加。随测量距离的增大,在巷道X-Y断面上,定位误差呈线性增加;在巷道X-Z断面上,定位误差的随机性增加。姿态角误差均由0. 2°至1. 5°呈线性增加,满足掘进机位姿检测精度的需求。

In order to meet the requirements of safety and high efficiency production for the operation of roadheader,a method of UWB pose collaborative detection was proposed. Based on TDOA ( time difference of arrival) positioning principle and P440 module’ s ranging information,the positioning model was established using the cooperative algo-rithm to obtain the final estimate coordinates of the fuselage positioning point. This paper compared the positioning point simulation distribution of Chan algorithm and collaborative algorithm,then analysed the three axis positioning ac-curacy of the cooperative algorithm and obtained the law of variation in the way of establishing the spatial full-section error field. To obtain the pose angles,the author carried out layout design for the positioning point. The results show that the Y-axis positioning error of the cooperative algorithm can basically stay at 2 mm,while the X-axis and Z-axis are linearly increased from 0. 4 to 4 cm within 90 m. In the X-Y section of the roadway,the positioning error increases linearly and in the X - Z section of the roadway,the randomness of positioning error increases with the increase of measurement distance. The error of the pose angles is linearly increased from 0. 2 to 1. 5 degrees,which satisfies the requirement of the pose detection accuracy of roadheader.