Research on Relative Supporting Height Estimation of Complex Mobile Roof Support Machinery Based on Multi-sensor Kalman Fusion

被引：0
作者：
Zhang, Lin [1 ]
Lu, Xuliang [2 ]
Feng, Shang [3 ]
机构：
[1] Hohai Univ, Coll Mech & Elect Engn, Changzhou 213022, Peoples R China
[2] China Univ Min & Technol, Sch Mechatron Engn, Xuzhou 221116, Jiangsu, Peoples R China
[3] Harbin Inst Technol, Sch Comp Sci & Technol, Harbin 150001, Heilongjiang, Peoples R China
来源：
PROCEEDINGS OF 2018 IEEE 3RD ADVANCED INFORMATION TECHNOLOGY, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (IAEAC 2018) | 2018年
关键词：
mobile roof support; multi-sensor fusion; Kalman filter; IMU; D-H matrix; DENAVIT; FILTER;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In order to maximize the roof supporting quality and minimize roof fall risk, the roof supporting height was reviewed in this contribution. The concept of relative supporting height (RSH) was proposed base on massive related literature reviews, and a novel estimation approach based on D-H matrix through multi sensor Kalman filter was provided to estimate RSH. Moreover, the architecture of proposed estimation approach was presented, local orientation estimator was described and multi-sensor Kalman filter was implemented. Finally, the experiment was elaborated using complex mobile roof support machinery (hydraulic support). The experiment results were analyzed and the estimated errors of fused approach and non fused approach were compared. The comparison indicated that the proposed approach possesses excellent performance on RSH estimation in complex environment.
引用
收藏
页码：314 / 320
页数：7
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