CAJ | 학술논문

针对采矿车深海作业的特殊性,基于航迹推算原理,建立了采矿车位置自测量推算系统.系统中利用三轴数字罗盘、角位移传感器和角位移变速器等,对车体姿态和外部环境进行测量,在所建立的车体运动模型基础上,实现复杂三维地形下颠簸车体坐标原点及地貌探测点真实坐标值推算.该系统能适应复杂工作环境,具有较高定位精度.
침대채광차심해작업적특수성,기우항적추산원리,건립료채광차위치자측량추산계통.계통중이용삼축수자라반、각위이전감기화각위이변속기등,대차체자태화외부배경진행측량,재소건립적차체운동모형기출상,실현복잡삼유지형하전파차체좌표원점급지모탐측점진실좌표치추산.해계통능괄응복잡공작배경,구유교고정위정도.
Considering the characteristic of mining vehicle working in deep ocean , a serf-measuring and reckoning system was established based on dead reckoning. Using 3-axis numerical compass, angle-displacement sensor and transmission, so vehicle attitude and exterhal circumstance was measured. On the basis of the vehicle kinematic model, reckoning the coordinate original point of he bumping vehicle and the real coordin ate value of the micro-geomorphic searching points micro-geomorphology point was realized under the complex 3D geomorphic condition. Tests show that the system is suitable for complex working environment and has a high positioning accuracy.