基于组合方式的掘进机导航系统研究
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田立勇,孙业新,于宁,陈洪月,马春莹
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Research on navigation system of roadheader based on combination mode
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Li-yong TIAN,Ye-xin SUN,Ning YU,Hong-yue CHEN,Chun-ying MA
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| 表1 MB670型掘锚一体机机身位姿的标定值与测量值对比 |
| Table 1 Comparison between calibrated and measured values of position and attitude of MB670 anchor digging machine body |
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| 对比项 | 序号 | x/mm | y/mm | z/mm | 偏向角/(°) | 俯仰角/(°) | 滚动角/(°) |
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| 标定值 | 1 | 85.0 | 10 000.0 | 30.0 | -1.21 | 0.12 | 1.42 | | 2 | 95.0 | 20 000.0 | 30.0 | 0.97 | -0.25 | -1.56 | | 3 | -100.0 | 30 000.0 | 30.0 | -0.75 | 0.23 | 1.07 | | 4 | -110.0 | 40 000.0 | 30.0 | 1.37 | -0.38 | -0.96 | | 5 | -120.0 | 50 000.0 | 30.0 | -0.84 | 0.17 | 0.67 | | 测量值 | 1 | 92.3 | 10 008.6 | 36.4 | -1.29 | 0.24 | 1.36 | | 2 | 101.6 | 20 011.5 | 27.5 | 0.91 | -0.17 | -1.45 | | 3 | -91.8 | 30 007.3 | 26.9 | -0.83 | 0.31 | 1.16 | | 4 | -117.4 | 39 987.7 | 39.3 | 1.28 | -0.29 | -1.08 | | 5 | -108.7 | 49 985.9 | 23.7 | -0.96 | 0.26 | 0.74 |
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