防冲钻孔机器人是冲击地压矿井卸压的关键设备，其准确定位和定姿是实现卸压作业无人化的基础和前提。通过分析国内外移动机器人及煤矿井下移动设备定位技术的特点，提出了一种基于空间阵列式惯性单元的防冲钻孔机器人位姿解算方法。在分析常规惯性传感单元定位误差类型及来源的基础上，建立了空间阵列式惯性单元数据融合模型，推导出角速度和比例加速度的融合方程，设计了空间阵列式惯性单元位姿解算流程。通过分析防冲钻孔机器人的实际运行工况，模拟了防冲钻孔机器人的曲线运动轨迹，并对钻孔机器人的位姿解算方法进行了仿真分析，仿真结果表明，在曲线运动时,空间阵列式位姿解算方法的位移和姿态角解算精度均优于原始位姿解算方法和差分式位姿解算方法。为了验证所提方法的可行性，根据现场实际情况搭建了移动载体运动工况模拟实验台，根据设定的真实轨迹曲线进行轨迹跟随及监测实验，结果表明：空间阵列式惯性单元的位姿解算精度较高，在x，y，z三轴方向的位移平均误差分别为5.83，8.76和0.84 cm，俯仰角、航偏角和横滚角的平均误差分别为0.07°，0.15°和0.06°。为了进一步验证所提方法的实用性，搭建了防冲钻孔机器人惯性单元位姿监测实验平台，进行了防冲钻孔机器人的直线行走实验，实验结果表明：基于空间阵列式惯性单元解算的钻孔机器人俯仰角、航偏角和横滚角平均误差均小于0.5°，在x，y，z三轴方向的位移平均误差均小于2.00 cm，位姿解算误差均满足实际要求，验证了所提防冲钻孔机器人位姿解算方法的可行性和有效性。

Anti impact drilling robot is a key equipment for underground rock burst relief in coal mine and its accurate position and attitude determination is the basis and premise for realizing unmanned pressure relief operation. By analyzing the characteristics of mobile robots and coal mine equipment positioning technologies, a position and attitude calculation method for anti-impact drilling robot based on spatial array inertial units is proposed. Based on the analysis of the types and sources of positioning errors of conventional inertial sensing units, the data fusion model of spatial array inertial units is established to derive the fusion equations of angular velocity and proportional acceleration, and the position and attitude calculation process of spatial array inertial units is designed. By analyzing the actual operating conditions of the anti-impact drilling robot, the curve motion trajectory of the drilling robot is simulated, and the position and attitude calculation method is simulated and analyzed. The simulation results show that the proposed method is better than the original method and the differential method in terms of displacement cumulative error and attitude angle average absolute error. In order to verify the feasibility of the proposed method, a motion simulation test bench of mobile carrier is built according to the actual situation of the site, and the trajectory tracking and monitoring experiments are carried out. The results show that the position and attitude calculation results of the spatial array inertial units are better than those of other two methods. The cumulative displacement errors in the x,y and z axes are 5.83,8.76 and 0.84 cm respectively, and the average absolute errors of yaw angle, pitch angle and roll angle are 0.15°, 0.07° and 0.06° respectively. In order to further verify the practicability of the proposed method, the position and attitude determination experimental platform of the anti-impact drilling robot is built, and the straight-line operation experiment of the anti-impact drilling robot is carried out. The experimental results show that the average absolute errors of yaw angle, pitch angle and roll angle of the drilling robot based on the proposed method are all less than 0.5°. The average errors of displacement in the x, y and z axes are less than 2.00 cm. The position and attitude calculation errors meet the actual requirements, and the feasibility and effectiveness of the proposed position and attitude calculation method for the anti-impact drilling robot are well verified.

1 空间阵列式惯性单元数据融合模型建立

   1.1 坐标系建立及转换过程

   1.2 空间阵列式惯性单元的布局方法

   1.3 数据融合方程

2 空间阵列式惯性单元位姿解算

   2.1 防冲钻孔机器人姿态解算

   2.2 防冲钻孔机器人速度解算

   2.3 防冲钻孔机器人位置解算

3 仿真分析

   3.1 防冲钻孔机器人运行工况分析

   3.2 防冲钻孔机器人运动微分方程

4 实验验证

   4.1 运动工况模拟实验

   4.2 地面实验

5 结论