Design and application of integrated navigation system in the mine

Abstract

Abstract: For?the error?accumulated?problems of mine?Strapdown Inertial?Navigation System（SINS）, a mine integrated navigation system based on Radio Frequency Identification（RFID） position correction technology is presented. The difference?of the SINS solver location and the actual?location stored in RFID tags is selected as the system observation, at the same time, Kalman filter is used to estimate?and?compensate the gyro drifts and accelerometer?biases existed in SINS. Through?new methods, cumulative?error?correction of SINS?can be?corrected at one-time, moreover, the estimation precision is high and the estimators are rapidly convergence by this method at the correction points.

Key words: integrated navigation, Kalman filter, Strapdown Inertial Navigation System（SINS）, Radio Frequency Identification（RFID）

摘要： 针对矿井捷联式惯性导航系统（SINS）误差累计的问题，提出了一种基于射频位置修正技术的矿井组合导航系统。系统将射频标签存储的实际位置和SINS解算位置的差值作为量测量，利用Kalman滤波器估计并补偿SINS存在的陀螺漂移和加速度计零偏。该方法在修正点对误差估计精度高，收敛速度快，能够对SINS累计误差进行一次性修正。

关键词: 组合导航, 卡尔曼滤波器, 捷联式惯性导航系统（SINS）, 射频识别

HUANG Huixian, WANG Hui, TANG Hongzhong. Design and application of integrated navigation system in the mine[J]. Computer Engineering and Applications, 2013, 49(7): 248-251.

黄辉先，王晖，汤红忠. 矿井组合导航系统的设计与应用[J]. 计算机工程与应用, 2013, 49(7): 248-251.

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Design and application of integrated navigation system in the mine

矿井组合导航系统的设计与应用

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